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In particular, I considered several bodies that are: swingarm, main frame,

front upper fork, front lower fork and wheels.

I suppose the wheels to have zero slippage, then knowing the wheel rear torque

as ##T## and the rear radius as ##R_r## we have that ##F_x=T/R_r##

The kinematic model is correct and also forces from suspensions (the model

have been validated).

The problem arises from the application point of ##F_x##.

While calculating the generalized force from ##F_x## the rear radius disappear,

meaning that the applied force acts like if it is applied in the center of the rear wheel instead of the contact point of the tire.

This results in same vehicle acceleration but different applied torques, but i don't know how to handle this issue.

I saw that many models found the same problem, but i don't get the point why this appears.

Thank you for your support