#11">Forces</a></li><li><a href="#14">Kinetic Energy</a></li><li><a href="#15">Euler-Lagrange</a></li><li><a href="#17">State equations</a></li><li><a href="#18">See Also</a></li></ul></div><h2 id="1">Bicycle model</h2><p>
<p>The single track (bicycle) approximation is illustrated below</p>
<p><img vspace="5" hspace="5" src="modelSimple.svg" alt=""> </p>
<p>The vector basis \( \Omega_{\rm O} = \{ {\rm O} {\bf i} {\bf j} {\bf k} \}\) is fixed to the inertial reference frame. The vector basis \( \Omega_{\rm T