A frictional dynamic characteristic measuring apparatus for measuring a pressing force and a frictional force acting between a friction material as a specimen and a slide portion which are in sliding contact, includes a sliding speed changing device for forcibly changing a sliding speed of the friction material and the slide portion, which is changing in a self-excited manner at a resonance frequency of a resonance system including the friction material and the slide portion, at the resonance frequency of the resonance system. This apparatus enables evaluation of a friction material which absorbs self-excited vibration in a torsional vibration system without the need of additional evaluation in an actual machine for use.