Centripetal force and friction

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As a car makes a turn, there is a centripetal force due to friction causing this turn if I'm correct. How is this possible if the tangent line of the turn is the direction of the cars motion, and friction acts in the opposite direction? I would think that the force of friction where the centripetal force acts.
 

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In modeling the turning force of a tire, there is something called the "scrub angle", which is the angle between the direction the tire is pointing and the velocity vector. The lateral force is derived from the scrub angle. The details of how much force is generated requires calculations of tread distortion and is different for each tire tread design.
 

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