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is usually illegal on public roads.

Steering forces

Deflecting the steering changes the slip angle of the front tyres, generating a sideforce. With conventional steering, the tyres are deflected by different amounts, but for the purposes of this analysis, the additional slip will be considered equal for both front tyres.

The side force becomes:

:

where (eta) is the steering deflection. Similarly, the yawing moment becomes:

:

Including the steering term introduces a forced response:

:

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