Deriving the slip angle for a car-trailer system?

Deriving the slip angle for a car-trailer system?

I just watched this video that perfectly explains how to derive the equations for the slip angle of a car: https://www.youtube.com/watch?v=1NTdXhLnA_w&feature=youtu.be&ab_channel=EngineeringExplained

However, how could this be done for a three axle system (car-trailer)? Would you have to express distance a (in the video) in terms of b (distance from centre of gravity to the second axle)?

Sorry if this is on the wrong sub, I was just wondering how it could be done as it's quite important for stability.

Submitted August 10, 2017 at 11:52AM by aRandomGuyyy
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Deriving the slip angle for a car-trailer system?

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