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For the system I have, there are both sliding and rolling under load. Sliding and rolling...

For the system I have, there are both sliding and rolling under load. Sliding and rolling directions are opposite, but the overall velocity of the system is on the sliding direction. The weal is under elasto-plastic deformation. For that system how can I accurately model friction forces? I simply use cloumb's friction but, I am confused about rolling.

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