This book addresses the general theory of motion of mechanical systems with Coulomb friction. In particular, the book focuses on the following specific problems: derivation of the equations of motion, Painleve's paradoxes, tangential impact and dynamic seizure, and frictional self-excited oscillations. In addition to the theoretical results, the book contains a detailed description of experiments that show that, in general, the friction force at the instant of transition to motion is determined by the rate of tangential load and does not depend on the duration of the previous contact....