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The primary forces and moments which affect the directional control properties of wheeled vehicles are those between the road and the rolling tire. These forces and moments are nonlinear functions of a large number of parameters including slip angle, camber angle, vertical load, tire-road friction coefficient, and traction forces, among others. A new apparatus particularly suited to the measurement of the steady state tire properties most significant in handling studies is described. The forces and moments of interest are defined and typical results fora7.60-15 tire are presented to illustrate the effects of slip angle, camber angle, vertical load, inflation pressure, and wheel torque on lateral force and aligning torque.
Nordeen et al. (1964) studied this question.