{eq:tractorveltranslation}
    \end{equation}
</p>
<p>Velocities of each axle are</p>
<p>
    \begin{eqnarray}
    {\bf v}_{\rm F} &=& \left( \dot{x} - a \dot{\psi} \sin \psi \right) {\bf i} + \left( \dot{y} + a \dot{\psi} \cos \psi \right) {\bf j} \label{eq:velfront} \\
    {\bf v}_{\rm R} &=& \left( \dot{x} + b \dot{\psi} \sin \psi \right) {\bf i} + \left( \dot{y} -b \dot{\psi} \cos \psi \right) {\bf j} \label{eq:velrear}
    \end{eqnarray}
</p>
</p><pre class="codeinput"><span class="comment">% Angular v