Consider the pitch and bounce model in Figure 15.4b, which takes into consideration the tire stiffnesses. Using z, θ, zr, and zf as the generalized coordinates, obtain the equations of motion of this...

Consider the pitch and bounce model in Figure 15.4b, which takes into consideration the tire stiffnesses. Using z, θ, zr, and zf as the generalized coordinates, obtain the equations of motion of this four-degrees-of-freedom system. Linearize the equations of motion assuming small motions, and write the equations of motion in matrix form. The center of mass is at a distance c from the rear axle and the mass and centroidal mass moment of inertia are m and Iφ, respectively