Lubrication of articular cartilage occurs in distinct modes with various structural and biomolecular mechanisms contributing to the low-friction properties of natural joints. In order to elucidate relative contributions of these factors in normal and diseased tissues, determination and control of lubrication mode must occur. The objectives of these studies were (1) to develop an in vitro cartilage on glass test system to measure friction coefficient, μ;​ (2) to implement and extend a framework for the determination of cartilage lubrication modes;​ and (3) to determine the effects of synovial fluid on μ and lubrication mode transitions. Patellofemoral groove cartilage was linearly oscillated against glass under varying magnitudes of compressive strain utilizing phosphate buffered saline (PBS) and equine and bovine synovial fluid as lubricants. The time-dependent frictional properties were measured to determine the lubricant type and strain magnitude dependence for the initial friction coefficient (μ₀=μ(t→0)) and equilibrium friction coefficient (μ_eq=μ(t→∞)). Parameters including tissue-glass co-planarity, normal strain, and surface speed were altered to determine the effect of the parameters on lubrication mode via a ‘Stribeck surface’. Using this testing apparatus, cartilage exhibited biphasic lubrication with significant influence of strain magnitude on μ₀ and minimal influence on μ_eq, consistent with hydrostatic pressurization as reported by others. Lubrication analysis using ‘Stribeck surfaces’ demonstrated clear regions of boundary and mixed modes, but hydrodynamic or full film lubrication was not observed even at the highest speed (50 mm/s) and lowest strain (5%).