The dynamical problem of a brake-like mechanical system composed of an elastic cylindrical tube with Coulomb's friction in contact with a rigid and rotating cylinder is considered. This model problem enables us to give an example of non-trivial periodic solutions in the form of stick-slip or stick-slip-separation waves propagating on the contact surface. It is shown in particular that the stick-slip-separation solutions would occur for small normal pressures or high rotational speeds. The existence and the characteristics of stick-slip and stick-slip-separation waves are discussed numerically.