The aim of the paper is to introduce and investigate a dynamical system which consists of a variational–hemivariational inequality of hyperbolic type combined with a non-linear evolution equation. Such a dynamical system arises in studies of complicated contact problems in mechanics. Existence, uniqueness and regularity of a global solution to the system are established. The approach is based on a new semi-discrete approximation with an application of a surjectivity result for a pseudomonotone perturbation of a maximal monotone operator. A new dynamic viscoelastic frictional contact model with adhesion is studied as an application, in which the contact boundary condition is described by a generalised normal damped response condition with unilateral constraint and a multivalued frictional contact law.
