A new simplified, yet representative experiment of a floating dual-piston disk-caliper braking system is designed to isolate the rectangular seal and the piston–bore chamber from the complexities of a braking system. The physical sources of the stiffness and damping mechanisms associated with the seal during an applied pressure event are identified and quantified under harmonic excitation. A tractable analytical model of the experiment that incorporates the identified dynamic seal properties is proposed. This linear time-invariant model describes the governing equations of both the hydraulic brake system components and the mechanical caliper components and provides some insights into a seemingly nonlinear system. For a range of pressure amplitudes and brake configurations, excellent agreement between predictions and measurements is obtained for the peak-to-peak values of the piston–bore chamber pressure, the force transmitted by the pistons, and the caliper displacement. The proposed model and experiment could be utilized in brake control, vibration, and pedal feel studies.