In this work, methods of analysis and models of contacting systems dynamics, including heat generation and wear exhibited by such systems, are presented. It should be emphasised that the methods and mathematical models of contacting systems exhibited by rigid/elastic bodies and heat/wear processes have been so far applied separately. Tribological processes occurring on a contact surface were not taken into consideration in the analysis of the dynamic rigid or elastic body models. On the other hand, most of the introduced models of bodies in contact that took tribological e?ects into...