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In this report the dynamic behavior of metallic bodies subjected to dry frictional contacts is studied. A simple model of interface response which incorporates a constitutive equation for the normal deformability of the interface and the Coulomb law of friction is developed. This interface model is incorporated in the formulation of problems in continuum mechanics that invlove the contact of linearly elastic or viscoelastic bodies. Variational formulations for these problems are established and existence and uniqueness results are proved for steady-sliding and dynamic frictionless or frictional contact problems. The same interface model is also incorporated in finite dimensional models for contact problems: a simple rigid body model and finite element space discretizations of the continuum models. Numerical studies steady sliding and its dynamic stability are presented, as well as numerical studies of friction-induced oscillations. In the latter case, the Newmark method and the central-difference technique are used to integrate numerically the equations of motion. In the numerical studies particular emphasis is given to the role played by normal degree-of-freedom in frictional sliding.