[Analogy to a Car] An object changes direction due to external forces acting upon it. A car for example changes direction because of the interactions at the contact patch of the tire and road surface. When a slip angle is introduced between the tire direction and facing a force is generated which changes the path of the car. This slip angle is initiated in the front tires via the steering wheel. As a secondary reaction the car yaws causing the rear tires to also generate a slip angle ...