Three benchmark examples for two-dimensional and axisymmetric contact problems with friction are presented using the finite element and boundary element methods. The examples have relatively simple geometries and boundary conditions, and involve frictional sticking and slipping modes at the interface according to Coulomb's law of friction. Results are presented in the form of normal contact stresses, shear stresses, relative tangential displacements, and the stick-slip partitioning of the contact interface.
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