It has been recently reported that elastic waves induced by nanosecond light pulses can be used to drive nanomotion of micro-objects on frictional solid interfaces, a challenging task for traditional techniques using tiny optical force. In this technique, the main physical quantities and parameters involved are temporal width and energy of light pulses, thermal heating and cooling time, friction force, and elastic waves. Despite a few experimental observations based on microfiber systems, a microscopic theory, which reveals how these quantities collaboratively enable motion of the micro-objects and derives what the underlying manipulation principles emerge, is absent. In this paper, a comprehensive theoretical analysis---centralized around the above listed physical quantities, and illuminated by a single-friction-point model in conjunction with numerical simulations---is established to pedagogically clarify the physics. Our results reveal the two essential factors in this technique: (1) the use of short light pulses for rapid thermal expansion overwhelming friction resistance and (2) the timescale asymmetry in thermal heating and cooling for accumulating a net sliding distance. Moreover, we examine the effects of spatially distributed friction beyond the single-friction-point consideration, and show ``tug-of-war''-like friction stretching in the driving process. Given these insights, we positively predict that this elastic-wave-based manipulation principle could be directly translated to micro- and nanoscale optical waveguides on optical chips, and propose a practical design. We wish that these results offer theoretical guidelines for ongoing efforts of optical manipulation on solid interfaces with light-induced elastic waves.