Focusing on freely frictional sliding motion and based on mathematical analysis and physical concepts, it is clarified that the translational and rotational motions stop simultaneously, and the direction of final motion depends on the final configuration and geometric properties of an object but is independent of initial velocity. One extreme case of initially translation-dominant motion is intensively investigated with simplified approach. A series of important properties and motion monotonicity of sliding motion are obtained. Based on the above results, an inverse problem to determine the necessary initial translational and rotational velocity becomes very easy and straightforward.