  Sensitive and fast force measurements are performed on sheared granular
layers undergoing stick-slip motion, along with simultaneous imaging. A full
study has been done for spherical particles with a +-20% size distribution.
Stick-slip motion due to repetitive fluidization of the layer occurs for low
driving velocities. Between major slip events, slight creep occurs that is
variable from one event to the next. The effects of changing the stiffness k
and velocity V of the driving system are studied in detail. The stick-slip
motion is almost periodic for spherical particles over a wide range of
parameters, but becomes irregular when k is large and V is relatively small. At
larger V, the motion becomes smoother and is affected by the inertia of the
upper plate bounding the layer. Measurements of the period T and amplitude A of
the relative motion are presented as a function of V. At a critical value Vc, a
transition to continuous sliding motion occurs that is discontinuous for k not
too large. The time dependence of the instantaneous velocity of the upper plate
and the frictional force produced by the granular layer are determined within
individual slipping events. The force is a multi-valued function of the
instantaneous velocity, with pronounced hysteresis and a sudden drop prior to
resticking. Measurements of vertical displacement reveal a small dilation of
the material (about one tenth of the mean particle size in a layer 20 particles
deep) associated with each slip event. Finally, optical imaging reveals that
localized microscopic rearrangements precede (and follow) each slip event. The
behavior of smooth particles is contrasted with that of rough particles.
