The planar dynamics of a rough block in nominally stationary or sliding contact with a counter-surface is studied in this work. Starting with the Greenwood-Williamson model of a rough surface, the analysis of elastic contact deflections is extended to accommodate angular as well as normal motions. The real area of contact and the normal contact force are obtained in terms of the relative approach and orientation of the surfaces. It is shown that angular and normal motions at frictional contacts are generally coupled. The contact area and normal contact force are shown to be nonlinearly related to the normal and angular motions