SUMMARY We present a numerical method for simulating both single-event dynamic ruptures and earthquake sequences with full inertial effects in antiplane shear with rate-and-state fault friction. We use the second-order form of the wave equation, expressed in terms of displacements, discretized with high-order-accurate finite difference operators in space. Advantages of this method over other methods include reduced computational memory usage and reduced spurious high frequency oscillations. Our method handles complex geometries, such as non-planar fault interfaces and free surface topography. Boundary conditions are imposed weakly using penalties. We prove time stability by constructing discrete energy estimates. We present numerical experiments demonstrating the stability and convergence of the method, and showcasing applications of the method, including the transition in rupture style from crack-like ruptures to slip pulses for strongly rate-weakening friction and the simulation of earthquake sequences in a viscoelastic solid with a fully dynamic coseismic phase.