What is your question?
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
Here is a pic of what I'm talking about:
Then I need to relate Force to Velocity.