[ODE] Applying a force with a friction component ?

[ode.is.nice at free.fr]

Hi,
How can i apply a force, with friction on a body, saying B0 ?
I took a look at the doc.pdf, but it seems that friction involves to create at
least 2 bodies, and friction runs with the collision detection phase.

Is it possible to create a friction component, during the body management phase,
when i apply a normal force, and not during the collision detection phase ?

If not, what is the tip to apply this force with friction : to fit a masse m,
and a acceleration dV, to obtain a force mdV to a very small sphere ?
And fit the position of this little sphere, very near of the body B0 ?

Tx for reply.