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It has long been recognized that the key to understand kinetic friction force$F_k$ is the analysis of microscopic instabilities that lead to suddenirreversible "pops" of certain degrees of freedom. In this Letter, the natureof such instabilities is characterized with an emphasis on boundary lubricants.It is shown that there are certain critical values of the parameters definingour model Hamiltonian, where the behavior of the instabilities changesqualitatively. Simultaneously, the functional dependence of $F_k$ on thesliding velocity $v_0$ changes. The relevant parameters studied here aredimensionality of the interface, degree of commensurability, first higherharmonic in the lubricant wall potential, and temperature. Molecular dynamicssimulations are carried out to test whether the predictions made on the basisof the simple model also hold in less idealized circumstances

Nature of Mechanical Instabilities and Their Effect on Kinetic Friction