On the Motion of Two Contacting Cylinders Interacting through Dry Friction Force

This paper concerned with the motion of two contacting cylinders with dry friction between them. Filippov’s theory of discontinuous differential equations is used to study the system of ordinary differential equations. The forward uniqueness of the solution is proven, the phase portrait is drawn, and its bifurcation is investigated. These results allow describing the motions of the given mechanical system, in particular, the conditions of seizing and permanent rotation.