http://home.planet.nl/~monstrous/tutcar.html this site has helped me a fair bit... ...but id like it a lot if somebody in the know could confirm the maths towards the bottom of the page. for a fast turn. the way i analyse it, the maths comes out different; To get the slip angle - I sort of get the local velocity at the tire and add the rotation component. and to me thats fine. but is it accurate. im about 5 hours i think from testing it, so ill find out soon enough