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This paper first introduces the effects of various frictional models on the dynamic behaviors of a simple mechanical system with frictional forces, which are described by the Leuven model combined with the Bouc-Wen model of the hysteresis. The frictional model allows accurate dynamic modeling both in the sliding and the presliding regimes without using switching functions. Secondly, these analytic results are applied to the precise positioning impact drive mechanism (IDM) and make the frictional actions more accurate. The hysteresis effect is also considered in the piezoelectric force of the IDM. It is shown that the hysteresis frictional force has critical influence on the final position of the micro- and nanometer positioning.