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Now that you mention it, that's true. But for example, in this page make an analysis and turns out that M=mg*(sinθ+cosθ*μr)*R - the maximum static friction is added. This analysis only considers forces, and then derives the motor torque. Shouldn't I reach the same result? And you can also find...

I'm sorry, I fail to see how that term appears if you take momentum with respect to the center of mass. The worst case scenario, correct?

Hi, it's probably a frequent question, but I can't seem to wrap my hear around. I'm trying to understand how I reach that value, not just how to get the value. I'm designing a vehicle with 4 wheels. It'll climb a surface with a slope theta (in degrees). This is the FBD that I've come up with of...