Cornering force

The rate at which cornering force builds up is described by relaxation length.

[2] Slip angle describes the deformation of the tire contact patch, and this deflection of the contact patch deforms the tire in a fashion akin to a spring.

[3] Because the tire deformation tends to reach a maximum behind the center of the contact patch, by a distance known as pneumatic trail, it tends to generate a torque about a vertical axis known as self aligning torque.

The diagram is misleading because the reaction force would appear to be acting in the wrong direction.

The behaviour of a tire under combined longitudinal and lateral deformation can be described by a traction circle.