1. Faculty of Mechanical Engineering, Department of Mechanics and Applied Computer Science , Bialystok University of Technology , ul. Wiejska 45C, 15-351 Bialystok , Poland ; SMiOC Frenoplast Bułhak i Cieślawski S.A., Research and Development Department , Korpele 75 – Strefa, 12-100 Szczytno , Poland