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We propose a simple phenomenological model to describe the motion of a plate on granular layers pushed at a constant speed. The model contains the order parameter characterizing the transition from a solidlike state to a liquidlike state. The model reproduces the hysteresis in frictional force and the universal profile of the slip velocity, which are observed in experiment. Our model predicts that the area of hysteresis loop depends on the pushing speed.
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Hisao Hayakawa (1999) studied this question.
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