Producing 3D friction loads by tracking the motion of the contact point on bodies in mutual contact

We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although approach is general, application inspiring discrete element method. The kinematics of process expressed terms relative 3D motion contact point on surfaces produces expressions for three loads: slide force, roll torque, and spin torque. cornerstone methodology tracking evolution/path surface salient attribute lies with its ability simultaneously compute, setup, slide, roll, loads smooth arbitrary geometry while accounting both static kinematic coefficients.