I was thinking in the direction of stick-slip phenomenon. Hier an excerpt of the help concerning "frictional" contact
"Frictional: In this setting, the two contacting geometries can carry shear stresses up to a certain magnitude across their interface before they start sliding relative to each other. This state is known as "sticking." The model defines an equivalent shear stress at which sliding on the geometry begins as a fraction of the contact pressure. Once the shear stress is exceeded, the two geometries will slide relative to each other. The coefficient of friction can be any nonnegative value. [Not supported for Rigid Dynamics. Forced Frictional Sliding should be used instead.]"
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