Subsonic to Intersonic Transition in Sliding Friction for Soft Solids

We perform friction experiments between a compliant gel and a rigid cylinder at sliding velocities comparable to the Rayleigh wave or secondary wave velocity of the gel. We find that, when the sliding velocity exceeds the wave velocities, the contact state transitions from Hertzian like to flat punch like, resulting in the breakdown of the lubricating oil film and the abrupt increase in the friction coefficient. We succeed in deriving theoretical solutions for the contact pressure distributions and the deformation profiles in the presence of friction, which are consistent with our experimental observations.