Chatterjee, Sudipta (2008). Tribological Properties of Pseudo-elastic Nickel-titanium (Thesis). University of California. pp. 11–12. ISBN 9780549844372 – via ProQuest. Classical Greek philosophers like Aristotle, Pliny the Elder and Vitruvius wrote about the existence of friction, the effect of lubricants and the advantages of metal bearings around 350 B.C.