ERRATA AND CLARIFICATIONS

Fundamentals of Vehicle Dynamics by Thomas D. Gillespie

Page v, Acknowledgements: Typographical error on next to the last line. The fourth name
is supposed to read Chuck Houser.
Page 17 : Correction to Equation for FWD at bottom of the page (Subscript numeral one
has been added to the h in the second term of the denominator)
=
c
L
-
d
L
f
L
t
1+
h
1
L
+ (1+
h
2
L
+
d
L
h
2
-h
3
L
t
)
Page 20 : Correct Reference 17 (incorrect authors initials) to read as follows:
Wong. J. Y., Theory of Ground Vehicles , John Wiley & Sons, New York,
1978, 330 p.
Page 24 : Correct Figure 2.2 (Mislabeled vertical axis).
.30
.25
.20
.15
.10
.05
0 10 20 30 40 50 60
Speed (mph)
a
g
x
Typical Heavy Truck,
250 lb/hp
10% Passenger
Car, 40 lb/hp
Page 27 : Add Reference 9 to the paragraph on discussion of mass factor at center of the
page.
The combination of the two masses is an "effective mass," and the ratio
of (M + M
r
)/M is the "mass factor." The mass factor will depend on the
operating gear, with typical values as below [9].
Ref: 9 Taborek, J. J., Mechanics of Vehicles , Towmotor Corporation,
Cleveland, Ohio, 1957, 93 p.
Page 27: Add Reference 9 to the paragraph following the table, and correct Equation (2-
12) by adding N
tf
in the second term.
A representative number is often taken as [4,9]:
Mass Factor = 1 + 0.04 N
tf
+ 0.0025 N
tf
2
(2-12)
Page 29 : Modifications to Figure 2.5 to clarify its interpretation.
80
60
40
20
0
100
1.0
2.0
1.5
O
u
t
p
u
t
/
I
n
p
u
t

T
o
r
q
u
e

R
a
t
i
o
E
f
f
i
c
i
e
n
c
y

(
%
)
Output/Input Speed Ratio
0 0.2 0.4 0.6 0.8 1.0
0
0.5
Lockup
Page 32 : Correct Figure 2.9 (Mislabeled horizontal axis)
120
.54
.58
.58
.54
.50
.46
.54
.58
.62
.68
.72
.84
.92
Wide Open Throttle
100
80
60
40
20
0
500 1000 1500 2000 2500 3000
B
r
a
k
e

M
e
a
n

E
f
f
e
c
t
i
v
e

P
r
e
s
s
u
r
e

(
p
s
i
)
Engine Speed (RPM)
Operating Schedule of Ideal Transmission
Consumption (lb/bhp h)
Page 63 : Modification to Figure 3.8. The lower expression for Slope has been changed
to clarify its interpretation.
500
1000
1500
2000
500 1000 1500 2000
Rear Brake Force (lb)
F
r
o
n
t

B
r
a
k
e

F
o
r
c
e

(
l
b
)
Front Lockup
Front and
Rear Lockup
R
e
a
r

L
o
c
k
u
p
P
r
o
p
o
r
t
i
o
n
i
n
g

L
i
n
e
W
h/L
p
1 +
p rs
h/L
p
1 -
W
p fs
h/L
p
h/L
p
1 -
Slope =
h/L
p
h/L
p
1 +
-
Slope =
2
0

f
p
s
p
s

D
e
c
e
l
e
r
a
t
i
o
n
Page 150 : Correction to Equation (5-16). The first symbol in the numerator is the Greek
letter Chi (), not Mu ().
Z
F
b
/M
=
[
4
-(K
1
+K
2
)
2
]+ j [C
3
]
[
4
-(K
1
+K
2
+K
2
)
2
+K
1
K
2
]+ j [K
1
C -(1 + )C
3
]
Page 178 : Example ProblemRide rates and loads are per wheel. I.e.,
Front ride rate = 127 lb/in/wheel Front tire load = 957 lb/wheel
Rear ride rate = 92.3 lb/in/wheel Rear tire load = 730 lb/wheel
Page 205 : Correct units on Equation (6-20) are g/deg not deg/sec as shown.
Page 224 : In Equation (6-65) the last of the three terms should be preceded by a minus (-)
sign, rather than a plus (+) sign.
Page 230 : Correction to Equation (6-73)
K =

a
y
- 57.3
L
V
2
(6-73)
Page 233 : Correction to the equation in the middle of the page.
c' = L
C
f
C
f
+ C
r
= 8.38 ft
232
232 + 195
= 4.55 ft
Page 233 : Example Problem 2, part b, correct text to read:
b) If the sprung mass is 2750 lb at a CG height of 10 inches above....
Page 235 : Correct Reference 10 to read:
Ellis, J. R., Vehicle Dynamics , Business Books Limited, London, 1969,
243 p.
Page 288 : Correction to Figure 8.12 to fix mislabeled wheel loads.
45 30 15 0 -15 -30 -45
-200
-100
0
100
200
Total
Steering Angle (deg)
S
t
e
e
r
i
n
g

T
o
r
q
u
e

(
i
n
-
l
b
)
STEERING TORQUE FROM
LATERAL INCLINATION ANGLE
Left Wheel (600 lb)
Right Wheel (800 lb)
1" Offset
10 Inclination Angle
Page 289 : Correct Equation (8-5) by adding minus (-) sign to the right of equals sign.
M
L
= - (F
yl
+ F
yr
) r tan (85)
Page 313 : Correction to Figure 9.2
Roll Angle,
= tan
-1
L
a
t
e
r
a
l

A
c
c
e
l
e
r
a
t
i
o
n
,

a
y
Rollover Threshold
U
n
s
t
a
b
l
e
2 h
t
Page 313 : Correction on last line of the page.
...equilibrium lateral acceleration reaches zero ( = tan
-1
(t/2h)).
Page 317 : Correction to Figure 9.4
Roll Angle,
= tan
-1
2 h
t
L
a
t
e
r
a
l

A
c
c
e
l
e
r
a
t
i
o
n
,

a

y
Rollover Threshold
(lift-off of second axle)
Lift-off of first axle
R