Abstract
Analytical expressions are formulated to describe the distribution of shear stresses which arise due to slip and soil flow. The distribution of the shear and normal stresses along the wheel-soil interface is established as a function of slip. The stresses under a towed wheel are also described. Actual measurements of the stresses by means of a special transducer embedded in the wheel are presented and compared to theoretical values. It is found that the agreement is satisfactory. It is concluded that further analysis of the available data will lead to a better understanding of the mechanics of tires operating off-the-road and to an improvement in wheeled vehicle prediction techniques.

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