1- The hub reference frame

> R: cornering radius

> Omega: cornering angular velocity

> HF := rotate('Y', Omega*t) * translate(0,0,-R);

2 - Wheel reference frame

> omega: spin velocity

> WF := HF * rotate('Z',omega*t);

3 - Define the wheel as a body

> wheel := make_BODY(WF, m , Id, Id, Ia): show(wheel);

4 - Define the tire contact force

> r: wheel radius

> CP := make_POINT(HF, 0, -r,0): show(CP);

5 - Define the torque exterted by the vehicle frame on the wheel

> VT := make_TORQUE(HF, MX,MY,0, wheel): show(VT);

Tire force

> TF := make_FORCE(HF,0,0,F, CP, wheel): show(TF);

> mbs := {wheel,TF,VT}; short-hand summary of the system model (body, force, force)

Netwon's Equations

> Neqns := newton_equations(mbs, HF): show(Neqns);

Euler's Equations showing the torque exterted by the vehicle frame on the wheel

> Eeqns := euler_equations(mbs, CoM(wheel), HF): show(Eeqns);