My book says that there are two forces two objects experience when they're in contact with each other. (it uses an example of a cylinder and a parallelepiped that are in contact with eachother) The chapter is about statics.
1) The normal force.
2) A tangential force, tangential to both surfaces that are in contact with each other. This happens only when the surfaces are rough.
I find this strange because I have never seen the second. The book further states that to be in static equilibrium, these tangential forces can't exceed the maximum force of static friction. I would understand this if the tangential force comes from an external source but I have never seen that two surfaces experience tangential forces due to their contact alone. Can someone clarify this?