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This article begins with the basic concept of friction and with the general approaches that can be used to control or minimize it. It focuses on the factors influencing rolling friction: surface topography, composition, subsurface microstructure, and lubrication conditions. The article reviews the microscopic mechanisms generating friction. It concludes by discussing the three components of rolling friction: microslip at the interface, anelastic hyteresis losses, and surface roughness.

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Emile van der Heide, Dirk Jan Schipper, Basic Theory of Solid Friction, Friction, Lubrication, and Wear Technology, Vol 18, ASM Handbook, Edited By George E. Totten, ASM International, 2017, p 35–43,

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