The　global　dynamics　of　a　mechanical　system　with　dry　friction　is　completely　analyzed.　This　mechanical　system　is　a　class　of　discontinuous　and　transcendental　piecewise　smooth　differential　systems.　Moreover,　it　can　exhibit　rich　and　complex　dynamical　phenomena,　such　as　Hopf　bifurcation,　grazing　bifurcation,　grazing-sliding　bifurcation　and　bifurcations　of　limit　cycles.　Finally,　all　global　phase　portraits　of　the　system　are　presented　on　the　Poincare　disc.　(C)　2018　Elsevier　Inc.　All　rights　reserved.