Friction is caused by dissipative lateral forces that act between macroscopic objects. An improved understanding of friction is therefore expected from measurements of dissipative lateral forces acting between individual atoms. Here we establish atomic resolution of both conservative and dissipative forces by lateral force microscopy, presenting the resolution of atomic defects. The interaction between a single-tip atom that is oscillated parallel to an Si(111)-(7 x 7) surface is measured. A dissipation energy of up to 4 eV per oscillation cycle is found. The dissipation is explained by a "plucking action of one atom on to the other" as described by G. A. Tomlinson in 1929 [Tomlinson, G. A. (1929) Phil. Mag. 7, 905-939].