Ultrasonic Force Microscopy and Friction Force Microscopy have been applied to the characterization of the elastic and tribological responses of poly(acrylic acid) hydrogels at ambient conditions. The gels were prepared by free radical polymerization of acrylic acid monomers partially neutralized by sodium hydroxide, using N, N'-methylen-bis-acrylamide as a crosslinker. Nanoscale domains with different stiffness and friction are observed. Increasing the amount of crosslinker leads to the formation of smaller, more densely packed domains. The domains with higher stiffness also exhibit higher friction and lower topographic high. The results can be understood by assuming that (i) neutralization by sodium hydroxide leads to the formation of both acrylic acid and sodium acrylate polymeric strands (ii) the observed domains differ in their acrylic acid / sodium acrylate content. In the acrylic acid rich domains, hydrogen bonding among the polymeric strands explains a higher stiffness and lower topography. In the sodium acrylate rich domains, lubrication by water molecules linked by solvation to the sodium counterions accounts for a lower friction.