lt  = simplify(subs(VF,[dx dy],[dx_Alt dy_Alt]));
VR_alt  = simplify(subs(VR,[dx dy],[dx_Alt dy_Alt]));

% Slip angle definition
ALPHAF_def = atan2(VF_alt(2),VF_alt(1)) - (deltaf + PSI);
ALPHAR_def = atan2(VR_alt(2),VR_alt(1)) - (deltar + PSI);

% Slip angle simplification (PSI=0 - Orientation is irrelevant here)
% Orientation can be neglected, i.e., for the truck: Orientation=PSI=0 
ALPHAF = subs(ALPHAF_def,PSI,0);
ALPHAR = subs(ALPHAR_def,PSI,0);

%%
disp(ALPHAF)
%%
disp(ALPHAR)

%% Forces
% <html>
% <p>F