Is there a way to get this pressure value and friction value?

I want to do some small experiments with physics simulation through UE4. Turn on simulated physics and simulated collision events, object A and object B are added with physics materials. When object A falls vertically on object B due to gravity, it can get the impact value through the collision event.
After that object A should continue to cause pressure on the upper surface of object B and stay on object B due to friction, is there a way to get this pressure value and friction value?
Thanks.