The friction force is known also from the reduction of the velocity per tick within the movement.
I tried with friction value of 0.01.
It should make a velocity change of -0.5cm/s per tick.
But the results shows the follow velocities within the ticks: 1.5cm/s, 0.5cm/s, 0cm/s…
If I will change the friction value to 0.005 (half of the real physical value) then I will get the correct results:
2.0cm/s, 1.5cm/s, 1.0cm/s…