Friction induced vibrations is a very wide field intensively discussed in the literature [1–6]. Dry friction itself is one of the most complex phenomena in mechanics. Detailed description of chemical and physical processes in the thin contact layer between two rigid bodies is an object of intensive interdisciplinary research. The laws of friction usually used in dynamics are phenomenological. They were formulated by Amontons (1699) and Coulomb (1785) and can be understood as the macroscopic result of these microscopic processes. Basically, these laws state that