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This chapter reviews the types of friction that are of concern in tribological systems along with their associated causes and effects. It discusses some of the early discoveries that led to the development of friction laws and the understanding that friction is a system effect that can be analyzed based on energy dissipation. It describes the stick-slip behavior observed in wiper blades, the concept of asperities, and the significance of the shape, lay, roughness, and waviness of surfaces in sliding contact. It explains how friction forces are measured and how they are influenced by speed, load, and operating environment. It also covers rolling contact and fluid friction and the effect of lubrication.

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