diff --git a/examples/worlds/linear_battery_demo.sdf b/examples/worlds/linear_battery_demo.sdf
index b141ba3735..fc07fe8ab7 100644
--- a/examples/worlds/linear_battery_demo.sdf
+++ b/examples/worlds/linear_battery_demo.sdf
@@ -28,7 +28,9 @@
   Stop recharging the battery using a topic (optional if <recharge_by_topic> is true):
       ign topic -t /model/vehicle_blue/battery/linear_battery/recharge/stop -m ignition.msgs.Boolean -p 'data:true'
 
-  The blue vehicle should stop when it runs out of battery.
+  After the battery runs out, no force is applied to the joints in the blue vehicle.
+  It eventually comes to a stop due to friction in its joints. Had there been no joint friction,
+  the vehicle would have kept on moving as Gazebo currently does not support rolling friction.
   The green vehicle will not stop with recharge function.
 
 -->
@@ -434,6 +436,9 @@
         <child>left_wheel_blue</child>
         <axis>
           <xyz>0 0 1</xyz>
+          <dynamics>
+            <friction>0.2</friction>
+          </dynamics>
           <limit>
             <lower>-1.79769e+308</lower>
             <upper>1.79769e+308</upper>
@@ -446,6 +451,9 @@
         <child>right_wheel_blue</child>
         <axis>
           <xyz>0 0 1</xyz>
+          <dynamics>
+            <friction>0.2</friction>
+          </dynamics>
           <limit>
             <lower>-1.79769e+308</lower>
             <upper>1.79769e+308</upper>