Okay so I've been digesting a lot about tire physics, it is a lot to digest. I have read about 50 pages worth of long and complex equations and hours upon hours of videos. But before I get to the complex refinements, I want to make sure I have an understanding of the basic behavoir. In all physics lessons, it is implied μK is a constant. That once a tire's lateral and longitudal force exceeds the weight on the tire, the friction coefficent changes from Static (mU) to kinetic. (μK). But it is implied that μK is always constant, does not change based on speed or slip angle of the tire. I have been fiddling around making my own car simulation, but the tires do not behave right. It behaves similar to a car but has some big problems. Brian Beckman, in his book ten years ago, says his physics are experimental and this is active research...I am not sure if someone has ever figured out the combined grip equation 10 years later...so I view this post as experimental and part of the active research. So, in plain english, having a simply static μK doesn't seem to be working out. So I'm thinking theres something more to this. Could someone provide an equation that returns the simple μK (simple please as I have the brain drain right now.) It doesn't have to be 100% realistic or detailed, just something that appears to have the behavoir and handling of a car at least within 96%-97% accuracy. Simpler is better. Also, this equation should take place on a 2d flat surface. So basically, an equation that returns the μK, only using as input: World velocity of the tire, World acceleration of the tire, and World angle of tire.