But how? All the forces you have described are acting along the same vertical plane that the axle lies on and that is perpendicular to the direction of travel. how can this 2-dimensional set of forces cause motion (yaw) in the third dimension?
But wouldn't exactly the same set of forces occur with a stationary hoop that's falling over? The component you're calling centripetal would just be a simple horizontal force in a stationary wheel so why does it cause a rolling wheel to change direction?
I'm still confused.
My understanding of 'camber thrust' is that when a wheel rolls with it's axle not parallel to the ground, it will act as a rolling cone and try to follow an arc around the point at which it's rotation axis intersects the ground.
I've seen this effect on flat ground for instance being able to...