The majority of experimental and theoretical friction studies considers translational motion, where all coarse-grained interface elements are displaced alike. An additional rotation of the slider introduces a well controlled displacement inhomogeneity across the interface. The friction response now consists of a force and a torque that are generally coupled. Recent results for a cylindrical slider are reviewed and applied to rigid objects with rotational symmetry about an axis. It is predicted that the difference between static and dynamic friction force can be suppressed, if a certain torque is applied. Moreover, we study the dynamics of the transition from sticking to sliding.