Step 1: Friction is the resisting force that acts between two surfaces in contact.
Step 2: If two surfaces are not moving relative to each other, the friction is called static friction.
Step 3: If two surfaces are moving or sliding relative to each other, the friction is called kinetic friction.
Step 4: The question clearly says that the surfaces are in relative motion.
Step 5: Therefore, the friction force acting between moving surfaces is kinetic friction.
\[
\boxed{\text{Kinetic friction}}
\]