I. Introduction A. Historical overview B. Vehicle coordinate systems

II. Tires and their Behavior A. Basic tire construction 1. contrast bias, bias-belted, radial B. Tire composition C. Simple Coulomb friction model 1. F£m*N 2. Insufficient to describe even basic tire behavior D. m is a function of adhesion and hysteresis E. Longitudinal tractive and braking force physics F. Resulting (apparent) slip G. Various definitions and resulting F (or m) vs. slip curves H. Relation to ABS (anti-lock brake systems) and how they work I. Rolling resistance and resulting force locations J. Reasons for high speed rise in rolling resistance 1. Turner number circumferential tire wave velocity K. Lateral tire force from slip angle 1. Physics - progressive lateral deformation through tire patch 2. Linear for smaller slip angles a) Slope defined as cornering stiffness 3. Highly nonlinear for larger slip angles a) Area of actual slipping at rear of tire patch increases 4. Lateral force increases with normal force, but at a decreasing rate 5. Use of carpet plots to present this data 6. Pneumatic results from lateral force profile a) Integrate force profile to get resulting force and pneumatic trail L. Camber definitions M. Camber lateral force models and differences btw. radial and bias tires N. Camber stiffness as a function of pressure and other variables O. Introduction to roll-camber P. Lateral tire spring rate Q. Combined lateral and longitudinal loading 1. Sakai data particularly useful 2. Lateral and longitudinal force trade-off and friction circle concept

III. 2-Dimensional Vehicle (bicycle) Models A. Definitions for bicycle model B. Development of steady-state cornering equation [d=...] C. Definition of understeer coefficient 1. Understeer 2. Oversteer 3. Neutral steer D. Critical speed, characteristic speed E. Lateral acceleration gain & plots F. Vehicle sideslip angle (b) & plots G. Yaw velocity gain & plots H. Curvature gain & plots I. Handling characteristics tests 1. Constant radius tests & plots 2. Constant speed tests & plots 3. Constant steer angle tests & plots

IV. Axle Kinematics A. Calculation of front indep. suspension roll centers 1. Kennedy's theorem B. Calculation of rear axle roll centers 1. Many examples of various configurations C. Calc. of rear axle roll axis 1. Many examples of various configurations D. Calc. of rear axle swing arm and pitch pole 1. Many examples of various configurations E. Effect of axle roll axis inclination on oversteer/understeer F. Front and rear axle FBDs, roll couple and roll stiffness equations G. Roll couple effect on cornering 1. Decrease of net lateral force at higher slip angles H. Frt/rear roll stiffness distribution 1. Affects understeer/oversteer 2. Anti-roll bar used to modify OS/US I. Vehicle roll axis J. Observations on front wheel geometry (what affects what) 1. Kingpin inclination 2. Kingpin axis 3. Trail 4. Scrub radius K. Anti-dive and anti-squat geometry 1. Estimated equations (typical texts) 2. Actual equations (adjustment of moment arm about CG)

V. Steering Systems A. A look at hardware 1. Rack & pinion 2. Ball screw 3. Hydraulic assist B. Ackerman steering vs higher speed (a's ¹ 0) 1. Low speed vs high speed 2. Dd required and how it is produced 3. Decreased Dd needed in practice because a's ¹ 0 4. Scrub radius +/- and affects on steering stability and torque/brake steer C. Equations for front independent suspension 1. Effect of geometry, jounce and rebound on steering 2. Influence on roll steer (jounce/rebound => toe-in/out => OS/US) 3. Calculation of ideal steering tie rod length and angle

VI. Drives and Suspensions A. Equations for front independent suspension 1. Tire scrub from jounce/rebound 2. Camber change from jounce/rebound B. Multi-link front suspensions to address radial tire rolling stiffness 1. Link to absorb impact and prevent transmission to chassis C. Brake force distribution D. Brake proportioning equations 1. Slopes, x & y intercepts for maximum braking forces 2. Diagonal lines of constant deceleration 3. Preferred distribution strategies

VII. Springing and Suspension Models A. 1 DOF vertical suspension models 1. Effect of shock absorbers as a function of road input frequency B. 2 DOF (1/4 car) vertical suspension models 1. Chassis bounce mode 2. Tire hop mode 3. Rattle space C. 2 DOF chassis pitch/bounce model 1. Pitch and bounce natural frequencies and modes 2. Determine nodes 3. Relate to 4 guidelines from Maurice Olley

VIII. Chassis and Overall A. Analysis of overall chassis forces and moments 1. Acceleration, braking, turning

IX. Aerodynamics A. Shear vs normal forces B. Boundary layer C. Laminar vs turbulent flow, flow separation D. Air density E. Air viscosity F. Bernoulli's equation along a streamline 1. Pressure vs velocity (ignore height changes in vehicle airflow) 2. Used to assess flow around vehicles in wind tunnels 3. Many other applications G. Difficulties in wind tunnel testing 1. Floor typically does not move 2. Flow similarity with actual (full-size) vehicle H. Reynolds number 1. Inertial forces ¸ viscous forces I. Pressure coefficient (Euler number) 1. Used in dimensionless pressure data J. Drag, lift and sideforce coefficients 1. A = frontal area in each case K. Lift/drag coefficient ratio L. Pitch, yaw, and roll moment coefficients 1. A = frontal area in each case 2. L = wheelbase