Pulses of slip velocity can propagate on a planar interface governed b
y a constant coefficient of friction, where the interface separates di
fferent elastic materials. Such pulses have been found in two-dimensio
nal plane strain finite difference calculations of slip on a fault bet
ween elastic media with wave speeds differing by 20%. The self-sustain
ing propagation of the slip pulse arises from interaction between norm
al and tangential deformation that exists only with a material contras
t. These calculations confirm the prediction of Weertman [1980] that a
dislocation propagating steadily along a material interface has a ten
sile change of normal traction with the same pulse shape as slip veloc
ity. The self-sustaining pulse is associated with a rapid transition f
rom a head wave traveling along the interface with the S wave speed of
the faster material, to an opposite polarity body wave traveling with
the slower S speed. Slip occurs during the reversal of normal particl
e velocity. The pulse can propagate in a region with constant coeffici
ent of friction and an initial stress state below the frictional crite
rion. Propagation occurs in only one direction, the direction of slip
in the more compliant medium, with rupture velocity near the slower S
wave speed. Displacement is larger in the softer medium, which is disp
laced away from the fault during the passage of the slip pulse. Motion
is analogous to a propagating wrinkle in a carpet. The amplitude of s
lip remains approximately constant during propagation, but the pulse w
idth decreases and the amplitudes of slip velocity and stress change i
ncrease. The tensile change of normal traction increases until absolut
e normal traction reaches zero. The pulse can be generated as a second
ary effect of a drop, of shear stress in an asperity. The pulse shape
is unstable, and the initial slip pulse can change during propagation
into a collection of sharper pulses. Such a pulse enables slip to occu
r with little loss of energy to friction, while at the same time incre
asing irregularity of stress and slip at the source.