I've been trying to work out the forces on a car in circular motion around a turn and I'm having trouble understanding what causes a friction force to be directed inward toward the center of the circle. I understand that on a straight path, the torque on the wheels causes them to push back against the ground and the opposing force of the ground pushing on the car moves it forward. Ignoring air resistance, this thrust would have to be equal to the friction force between the tires and the ground to keep the car moving at a constant velocity. What happens at that instant where the wheel is turned and the car enters a circular path. Based on the straight path case, by applying a torque to turn the wheels, the thrust is redirected at a slight angle to its original direction. I would assume for the speed to remain constant, the thrust and friction will still be balanced in the new direction of motion. So what gives rise to a net friction force directed toward the center of the circular path? Isn't it the torque applied to turn the wheels that is causing the circular motion? After all if the driver lets go of the wheel the car will return to a straight line path.