I am trying to model the resisting torque acting on a ball rolling on a flat surface. The ball is preloaded with a normal force, and traction force may also be present at the interface. Both parts are made from steel so I don't expect visco-elastic behavior. Formulas available in the textbooks don't show formulations for that particular configuration. Any available test results would also be useful.
I hope this chapter be helpful
Rolling Resistance Calculation
By: Eric Forsta Thacher
Thank you, Mohannad Husain. The chapter you refer to deals with the rolling resistance of tires - and formulation for those differ much from the steel on steel case.
I strongly recommend that you look at this paper. I believe it may work for you, although the study is between cylindrical and flat surfaces.
Best of luck.
Article Realistic friction coefficient model between a rolling cylin...
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