“…Many previous works [22,4,24,26,19,12,20,27,14] use a change of variables X = R(t)X, where R(t) is the rotation matrix describing the rotation of the tire up to time t. The equations of motion are then reformulated with this change of variables, and the steady state solution to the spinning tire becomes a static problem, i.e. the transformed motion of the tire under this change of variables, φ, satisfies φ( X, t) = φ( X, 0) for all time.…”