> be skidding at any given moment.  The notion of "holding forces at
> zero" makes intuitive sense, but underneath that it has very little
> physical meaning.

On the contrary.  I haven't followed this discussion too closely and I'm
no physicist either, but this sounds to me exactly like static vs. 
gliding friction.

> I still think the "rooted spring" model has the most promise, although
> it too is complicated by the fact that rolling wheels will "skid" in
> only one dimension.

Isn't that a bit of oversimplification?  My car will skid in at least
two dimensions if I try hard enough :-)  And a small amount of skidding
will always be present.

-Gerhard
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