I have attached a diagram(figure 1(b)) indicating the directions of the cornering force and lateral force when there is sufficient side-slip angle i.e the vehicle moving direction plane and wheel rotation plane are at a big enough angle a.k.a side-slip angle. From my understanding, the cornering force is a result of the tire deformation and lateral force is a result of the 'CENTRIFUGAL force'(am i right?). Then, in the figure 1(b), shouldn't the lateral force act in the opposite direction(outward direction of the turn) than what is being indicated? i.e the lateral force and cornering force should be in opposite directions but not essentially 180 degree. In the figure, it looks like the vehicle is traveling straight and the wheel is turned right, so my diagram would have the centrifugal force acting to the left and the cornering force to the right. But,this is not the case as given in the book 'vehicle dynamics handling' by Masato Abe.Why? I'm assuming: both the lateral force and cornering forces are reaction forces. Q2.Is it the cornering force of the lateral force that produces the self-aligning torque as a result of the asymmetrical nature of the tire deformation in the contact patch? Wiki:"The diagram is misleading because the reaction force would appear to be acting in the wrong direction. It is simply a matter of convention to quote positive cornering force as acting in the opposite direction to positive tire slip so that calculations are simplified, since a vehicle cornering under the influence of a cornering force to the left will generate a tire slip to the right."