\psi + \delta_{\rm R} \right) \\
%     \nonumber m_{\rm T} \ddot{y} &=& F_{x,{\rm F}} \sin \left( \psi + \delta_{\rm F} \right) + F_{y,{\rm F}} \cos \left( \psi + \delta_{\rm F} \right) + F_{x,{\rm R}} \sin \left( \psi + \delta_{\rm R} \right) + F_{y,{\rm R}} \cos \left( \psi + \delta_{\rm R} \right) \\
%     \nonumber I_{\rm T} \ddot{\psi} &=& F_{x,{\rm F}} a \sin(\delta_{\rm F}) + F_{y,{\rm F}} a \cos(\delta_{\rm F}) - F_{x,{\rm R}} b \sin(\delta_{\rm R}) - F_{y,{\rm R}} b \cos(\delta_{\rm R}),
%     \end