utoNumber: "AMS" } }
% });
% </script>
% </html>
%
%% Bicycle model
% <html> 
% <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 \( \Omega_{\rm T} = \{ {\rm T} {\bf t}_x {\bf t}_y {\bf t}_z \}\) is fixed to the simple vehicle. The vector basis \(\{ {\rm F} {\bf e}_x {\bf e}_y {\bf e}