The Mazda CX-5 has a weight of 1600kg, wheelbase of L=2.7 m, c.g. height of h=0.62m and 60/40 front/rear weight distribution. Front and rear tires have cornering stiffness of 38kN/rad and 40kN/rad each respectively. If this car is in a constant-radius turn of R=60m
a. [1] what is the Ackerman steering angle δ in degrees?
b. [2] Using the bicycle model for analysis, what is the steering angle required to drive the constant-radius turn at V=20m/s? Is the car understeering?