Slip instability and state variable friction laws,
Ruina, A, JGR, 88, B12, 10,359-10,370, Dec 1983. .pdf
file
Friction laws and instabilities. PhD thesis. Brown University. 1981
Ruina, A. 14
meg .pdf scan
Slip patterns in a spatially homogeneous fault model
Horowitz, F, Ruina, A, JGR, 94, B8, 10,279-10,298, Aug 1989. .pdf
file
Papers on the net friction force and moment at a planar contact with rate-independent though possibly anisotropic friction. These include discussion of the dynamics of a sliding hockey puck and such like. [These papers and the references therein seem to cover much of what is in the more recent paper: Frictional Coupling between Sliding and Spinning Motion Zénó Farkas, Guido Bartels, Tamás Unger, and Dietrich E.Wolf, Phys. Rev. Lett. 90 , 248302 (issue of 20 June 2003).]
1) Goyal, S., Ruina, A. and Papadopaulos, J.M.,
Planar Sliding with Dry Friction I: Limit Surface and Moment Function
Wear 143}(2), 307-330,1991. pdf scan2) Goyal, S., Ruina, A. and Papadopoulos, J.M.,
Planar Sliding with Dry Friction II: Dynamics of Motion
Wear, 143 (2), 331-352,1991 pdf scan
Robotics and Automation, Volume II, pp. 794-800, 1989.
This is a pre-final-paper summary of much of (1) and (2) above pdf scan4) See also a summary of some of this work on pages 130-139 of "Mechanics of Robotic Manipulation" by Matthew T. Mason, MIT Press, 2001.
See also the papers referenced therein.
5) Some more details are also in the thesis of Goyal.