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analog computer analysis applied axis axis system Belted-Bias brake factor brake system brake torque braking efficiency braking force braking performance camber angle centripetal acceleration characteristics components contact patch coulomb friction damping damping ratio deceleration defined deflection driving effects equations frequency friction coefficient front suspension front wheels function HSRI increased inertia jennite kinematic lateral acceleration lateral force limit linear longitudinal slip maneuver measured mechanical mode motion motor vehicle obtained Pacejka parameters passenger cars path curvature peak Radial ratio rear axle response road roll roll center shear force shock absorber 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