The frictional dynamics of a single elastomeric pillar is studied analytically and experimentally in meso-scale. An energy equilibrium of a single pillar is established to analyze the static and kinetic friction regimes. The kinematics of the system as well as the components of the total energy of the system is identified. In the experimental section, frictional dynamics of the system is analyzed using the friction loops. The experimental results are compared with the analytical ones in terms of the mean value of the sliding friction force for different diameter and height values of the pillars. It is shown that the analytical and experimental friction force values agreement is up to 10% at high preload values. (C) 2016 Elsevier Ltd. All rights reserved.