Conditions for the onset of sliding in a plane system with friction

The problem of the plane motion of a rigid body along a fixed surface in the presence of dry (Coulomb) friction is considered. The constraint is assumed to be non-restraining. It is shown that the validity of a certain system of two inequalities of the same type guarantees that the surfaces maintain contact and that the body will continue to roll without sliding. These conditions are analysed in a few specific cases of mechanical systems.