Friction-induced vibration in caliper-disc brake systems is examined using mathematical formulations based on the lumped-parameter approach. The theoretical treatment of the system considers the kinematic and dynamic properties of the caliper motion, accounting for the slider translation and flexure as well as rotational stiffness of the caliper assembly. In addition, compressive and shear properties of the friction material is included in the derivation of the model. The geometric and material/friction coupling effects are also included in the model. The geometric coupling effects arise from the kinematic nature of the caliper-disc brake system. The material/friction coupling effects are due to the compressive properties of the pad friction material leading to the determination of instantaneous pad/rotor average pressure and, thereby, its influence on the transmitted braking torque due to frictional contact. The coefficients of friction of the pad are represented by an exponential function (Larsson and Farhang, 1997) that describes the decay from the static friction coefficient to the kinetic friction coefficient as the relative velocity between the pad and rotor is increased. The resulting equations of motion are a set of second-order ordinary differential equations. Results are presented using an initial vehicle speed of 55 miles per hour.