The goal of this article is to examine the effect of modulated actuation pressure on the friction torque response of a disc brake system. First, a dynamic friction experiment, consisting of a flywheel, shaft and brake assembly, is built and instrumented accordingly. The actuation pressure is modulated with a solenoid valve located in the hydraulic line. During the experiment, the modulation frequency is kept intact, and the shaft torque is measured as the system slows down; an amplification of the dynamic torque is observed as the system passes through the resonance. Second, a nonlinear mathematical model of the brake experiment is developed, and the dynamic torque response is numerically calculated for various modulation schemes, such as with constant frequency and sweeping modulation frequency with single harmonic content. Predicted results are compared with measurements. Finally, the outcome of this study is related to the brake judder problem, and some solutions for the reduction of dynamic torque are briefly discussed.