Medyanik, Sergey N.Kam Liu, WingSung, In-HaCarpick, Robert W2023-05-222023-05-222006-09-272007-05-31https://repository.upenn.edu/handle/20.500.14332/40092Using the quasistatic Tomlinson model as a simple representation of an atomic force microscope, conditions for transitions in atomic-scale friction behavior from smooth sliding to single slips and then multiple slip regimes are derived based on energy minimization. The calculations predict and give a general explanation for transitions between different stick-slip regimes in the limit of low damping. The predictions are consistent with experimental observations of these transitions.Article