File:Stribeck friction.png

This is taken from the following paper:

Sherman, Seth, Delp, "Simbody: multibody dynamics for biomedical research", 2011.

https://simtk.org/docman/view.php/47/1589/Sherman-2011-SethDelp-Simbody-ProcediaIUTAM-v2-p241.pdf