ABSTRACT
Rolling friction belongs to the most important dissipation mechanisms which may sensitively affect the dynamical behavior of granular systems. Since 1785 whenVince described systematic experiments to determine the nature of friction laws, rolling friction has been investigated by many scientists due to its great importance in engineering and natural sciences, e.g. (Czichos 1978; Barwell 1979; Szeri 1980; Dowson et al. 1994; Shpenkov 1995; Rabinowicz 1965).
