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I posted a reply in the caster thread that technically does involve slip angles, but I left it out, b/c I didn't need it to describe T/C rods. The slip angles of the rear tires are aided also by the ability of the front tires to follow those angles, which is what caster of the front wheels does.. (I think) Thats why you can let go of the steering wheel in a drift with your foot in gas, and the car will straighten out.
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