  We show that the friction force and torque, acting at a dry contact of two
objects moving and rotating relative to each other, are inherently coupled. As
a simple test system, a sliding and spinning disk on a horizontal flat surface
is considered. We calculate, and also measure, how the disk is slowing down,
and find that it always stops its sliding and spinning motion at the same
moment. We discuss the impact of this coupling between friction force and
torque on the physics of granular materials.
