If the vehicle move not only in a positive linear direction along its longitudinal axis “x”, but rather it turns around the vertical axis “z”, this phenomenon is called Yawing. If this additional rotation takes place in the same direction as that of the vehicle longitudinal axis above the ground the vehicle over steers, otherwise it under steers.
The product of exterior forces and the cornering forces of the individual wheels with their lever arms at their center of gravity S gives the Yawing moment Mg.
Source: Autobei
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