A novel rotational cone tribometer (RCT) has been developed to replicate the dynamic line contact condition found in most dynamic seal applications. In RCT, the tribological contact forces in the contact zone are applied by taking into account the application conditions such as constant compressive strain as opposed to constant weights in most standard tribometers. The characteristics of the tribometer is described in this paper. The forces and moments in X, Y and Z axes in the contact zone, measured directly throughout the measurement as a function of sliding speed and time, provides the friction coefficient and a continuous indication of wear progression at the contact interface simultaneously, in contrast to standard single point wear measurements. The tribological contact condition and stability during a measurement have been derived by further mathematical analysis of the lateral forces. Difference in wear resistance of Polytetrafluoroethylene (PTFE) with various fillers such as glass fiber, graphite and bronze are observed. RCT enables correlation of changes in friction coefficient of the material with the wear at the contact interface as a function of sliding speed. This opens up the opportunity to study the frictional behavior of a polymeric material considering the wear at the contact zone and the changes in contact condition, such as contact area, simultaneously.