Inertial Force

(while accelerating or decelerating)

TEI = ma + sum(Jiaif(N/V))

m = mass of vehicle

a = linear acceleration

Ji = moment of inertia of rotating component i

ai = angular acceleration of rotating component

(i.e. motor, drive shaft, gears, wheels, etc.)

f(N/V) = relationship between tractive effort at

the wheels & torque on a rotating shaft

of the drive train

F = ma

G = Ja