Erratum to: Tribol Lett (2013) 50:145–155 DOI 10.1007/s11249-013-0105-2

The original version of this manuscript unfortunately included an error. In Eq. (4), the term R appeared without the correct exponent. R should be raised to the two-thirds power and the equation should have been presented as below

$$ F_{\text{F}} = \left( {\frac{\tau }{{K^{2/3} }}} \right)\pi R^{2/3} (F_{\text{N}} + F_{\text{a}} )^{2/3} + \mu (F_{\text{N}} + F_{\text{a}} ) $$
(4)

The calculations reported in the manuscript were performed using the correct equation; the error occurred only during the preparation of the manuscript for publication and does not change any of the reported results.