Automotive braking systems use friction between moving and stationary surfaces to convert the kinetic energy of a moving vehicle into heat energy, allowing the vehicle to be stopped. Common braking systems include disc brakes and drum brakes. Disc brakes use pads that press against a rotating disc or rotor, while drum brakes use shoes that are pressed against the inner surface of a wheel cylinder. The braking force is created hydraulically using a brake pedal, master cylinder, lines and either calipers or wheel cylinders to apply force to the brakes. ABS systems modulate brake pressure to prevent wheel lock up during hard braking.