At first I thought it might just be a simple equation using where is the degrees of toe in.

But thats not it. I need to take into account rolling friction.

The equation for rolling resistance is

F is the force of rolling friction

c is the rolling resistance coefficient

N is the normal force.

I think it might be along the lines of

F(final) =

Here is a pic of what I'm talking about:

Then I need to relate Force to Velocity.

Any ideas?

-Tony