We have performed molecular design to achieve both low and high friction systems from the nanoscale standpoint of view. In the low friction limit, superlubric fullerene molecular bearings comprised of graphene/C_<60>/graphene interface have been developed. Furthermore theories of nanomechanical measurement such as friction force microscopy and dynamic force microscopy have been developed in order to understand the mechanism of friction. As one example, nanoscale friction appeared in MEMS-in-TEM measurement is discussed.