Lateral force

The later force depends on the Vertical force (), Current coefficient of friction (). And Fiala defines a critical lateral slip ()

                            (1)

: Partial derivative of lateral force () with respect to slip angle () at the zero slip angle.

The lateral force peaks at a value equal to  when the slip angle () equals the critical slip angle ().

1.  Elastic Deformation State:

          (2)

where,

2.  Sliding State:

                            (3)