The phenomenon of sudden jolts when riding in a vehicle is a well-known phenomenon which is caused by friction forces between the ground, tyres, disc-brake systems and suspensions. It is caused by two significant nonlinear singularities, which arise from friction forces between the ground and the tyres as well as within the disc-brake system. The jerk phenomenon occurs due to the frictional forces between two surfaces when there is a change in the direction of their relative velocity. In this thesis, some of the most common friction models will be investigated. Simulations are performed to evaluate the limits and the performances of the different models applied to a brake disc.