Summary It was often observed that friction forces can be reduced significantly if ultrasonic oscillations are superposed to the macroscopic sliding velocity. This phenomenon can be used to improve machining processes by addition of ultrasonic vibration to tools or workpieces, and forms the basis for many processes of ultrasonic machining. On the other hand, ultrasonic vibrations can be used to generate motion. The thrusting force of ultrasonic motors is provided to the rotor through friction. In the present paper, a simple theoretical model for friction in the presence of ultrasonic oscillations is derived theoretically and validated experimentally. The model is capable of predicting the reduction of the macroscopic friction force as a function of the ultrasonic vibration frequency and amplitude and the macroscopic sliding velocity.