Friction in Rolling a Cylinder on or Under a Viscoelastic Substrate with Adhesion

In classical experiments, it has been found that a rigid cylinder can roll both on and under an inclined rubber plane with a friction force that depends on a power law of velocity, independent of the sign of the normal force. Further, contact area increases significantly with velocity with a related power law. We try to model qualitatively these experiments with a numerical boundary element solution with a standard linear solid and we find for sufficiently large Maugis–Tabor parameter qualitative agreement with experiments. However, friction force increases linearly with velocity at low velocities (like in the case with no adhesive hysteresis) and then decays at large speeds. Quantitative agreement with the Persson–Brener theory of crack propagation is found for the two power law regimes, but when Maugis–Tabor parameter is small, the cut-off stress in Persson–Brener theory depends on all the other dimensionless parameters of the problem.