       VT*sin(ALPHAT + PSI)
                                                                                                                              dPSI
                    (FxF*cos(ALPHAT - deltaf) + FxR*cos(ALPHAT - deltar) + FyF*sin(ALPHAT - deltaf) + FyR*sin(ALPHAT - deltar))/mT
 -(FxF*sin(ALPHAT - deltaf) - FyR*cos(ALPHAT - deltar) - FyF*cos(ALPHAT - deltaf) + FxR*sin(ALPHAT - deltar) + VT*dPSI*mT)/(VT*mT)
                                                (FyF*a*cos(deltaf) - FyR*b*cos(deltar) + Fx