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Vehicle Delta Slip Angle.

I’m trying to get the delta slip angle of vehicles by the formula number 16 found here: http://egdk.ttu.ee/files/parnu2013/Parnu_2013_037-041.pdf

In my understanding it is: mass / axle length * (Center of mass to Rear Axle distance / Rear tire stiffness - Center of mass to Front Axle distance / Front tire stiffness) * ay, which I totally ignore the meaning of.

Is there anyone good at physics that can help me? Is there an easier way to get the delta slip angle?