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Friction and dry sliding wear behavior of glass and carbon fabric reinforced vinyl ester composites have been presented. The results show that the coefficient of friction and wear rate increased with increase in load/sliding velocity and depends on type of fabric reinforcement and temperature at the interphase. The excellent tribological characteristics were obtained with carbon fiber in vinyl ester. It is believed that a thin film formed on counterface was seems to be effective in improving the tribological characteristics. The worn surfaces examined through SEM, showed higher levels of broken glass fiber in vinyl ester compared to carbon–vinyl ester composites.