{x,{\rm R}} \sin \left( \psi + \delta_{\rm R} \right) + F_{y,{\rm R}} \cos \left( \psi + \delta_{\rm R} \right) \\
%     \nonumber I_{\rm T} \ddot{\psi} &=& F_{x,{\rm F}} a \sin(\delta_{\rm F}) + F_{y,{\rm F}} a \cos(\delta_{\rm F}) - F_{x,{\rm R}} b \sin(\delta_{\rm R}) - F_{y,{\rm R}} b \cos(\delta_{\rm R}),
%     \end{eqnarray}
% </p>
% <p>Manipulating and simplifying</p>
% <p>
%     \begin{eqnarray}
%     \nonumber \dot{v}_{\rm T} &=& \frac{F_{x,{\rm F}} \cos \left( \alpha_{\rm T} - \delta_{\rm F} \righ