\left( \delta_{\rm F} + \psi \right) \label{eq:slipangleFfull} \\
\alpha_{\rm R} &=& \arctan \left( \frac{v_{\rm T} \sin \left( \psi + \alpha_{\rm T} \right) - b \dot{\psi} \cos \psi}{ v_{\rm T} \cos \left( \psi + \alpha_{\rm T} \right) + b \dot{\psi} \sin \psi} \right) - \left( \delta_{\rm R} + \psi \right) \label{eq:slipangleRfull}
\end{eqnarray}
</p>
<p>Since the definition of slip angle does not actually depend on the orientation, the orientation may be considered zero for simplification. For the tracto