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Energy dissipation due to micro-slip in joints is the primary source of damping in many vehicle and space structures. This paper presents results on how the surface topology may be modified to increase the energy dissipation in joints. An analytical solution for general forms of contact pressure of a one-dimensional micro-slip problem is presented. The solution indicates how the contact pressure should be distributed to maximize the energy dissipation. Two dimensional contact pressures are optimized using finite element methods in combination with numerical optimization methods and the results are used to modify the surface topology in bolted joints in order to increase the energy dissipation during loading. The predicted increase of energy dissipation is validated with physical testing. A direct result of the study is a washer with varying thickness increasing the energy dissipation in joints and hence the structural damping of joined structures.