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In the paper a thermodynamical model of contacting, rubbing and wearing bodies is built. A two-dimensional interface layer of wear products is included. Balance equations of mass, momentum, moment of momentum and energy, and entropy inequalities are given. Constitutive equations and linearized theories for the bodies and the layer are formulated for various types of materials. A general method for deriving constitutive equations for friction, wear and frictional heat is presented. Using results of the paper, we formulate a basic system of equations and boundary conditions for a thermoelastic contact problem with friction, wear and frictional heat effects.