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aligning moment axis axis system Belted-Bias brake factor brake system brake torque braking efficiency braking force camber angle centripetal acceleration characteristics components contact patch coulomb friction damping damping ratio deceleration defined deflection driving dynamic effects equations frequency friction coefficient front suspension front wheels function HSRI increased jennite lateral acceleration lateral force linear longitudinal slip maneuver measured mechanical mode moment of inertia motion motor vehicle obtained Pacejka parameters passenger cars path curvature peak Radial ratio response road roll roll center shear force shoe shown in Figure sideslip angle simulation slip angle speed spring rate sprung mass static margin steady-state steer angle steer displacement steering input steering system steering wheel stopping distance surface tire forces tire traction tire-road torque traction force trailer tread unsprung variables velocity vertical deflection vertical load