\rm F} + \psi \right) \\
\nonumber \alpha_{\rm R} &=& \arctan \left( \frac{\dot{y} - b \dot{\psi} \cos \psi}{ \dot{x} + b \dot{\psi} \sin \psi} \right) - \left( \delta_{\rm R} + \psi \right)
\end{eqnarray}
</p>
<p>Using equations in \ref{eq:dxdy2vtalphat}, the slip angles become</p>
<p>
\begin{eqnarray}
\alpha_{\rm F} &=& \arctan \left( \frac{v_{\rm T} \sin \left( \psi + \alpha_{\rm T} \right) + a \dot{\psi} \cos \psi}{ v_{\rm T} \cos \left( \psi + \alpha_{\rm T} \right) - a \dot{\psi} \sin \psi} \right) - 