Hi,

I was wondering if anybody was able to explain a derivation/simplification in Milliken and Milliken that I am having trouble with (I was hoping some like minded people here had been through it!!)?

In equation 5.2, the for the direct acceleration term (ay = Vr + 'v dot'), 'v dot' is simplified to V*Beta (Vehicle velocity multiplied by vehicle slip angle).

I have read the text a few times and I can't understand what is being done here.

I'd really appreciate any help!