There are some typing errors in equations.

In Part I Eq. (9), the superscript “−1” of the right-hand side is missing.

In Eq. (10), the superscript “−1” of the right-hand side is missing.

In Eq. (A1), “Fsy(ae,x1)” of the left-hand side should be fsy(ae,x1)⁠.

In Part II Eq. (3), “×” just in front of “[longitudinal-force torque]” is unnecessary.

In Eq. (17'), “ky0” in the large brackets of the right-hand side should be “Ky0”.

In Eq. (19), “=” should be inserted just after “ϵ”.