d{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) - \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