Quote:
Originally Posted by RyanCahoon
Is this assuming a value of θ that's fairly close to 90°? For small values of θ, it seems like assumption 1 for the B force no longer holds - the primary limitation on the normal force will come from the lever action of the module.
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I was only assuming that θ was between 0° and 90°. My point with assumptions 1 and 2 regarding B was that the forces applied perpendicularly to the line connecting the drive and wheel axes were approximately zero. If θ is small, then the approximation is just that much better.
As you note, for small θ, the term deriving from B (the one with tan θ) is much less important than the term deriving from D (the one with sec θ).