ESDU 86016 gives expressions and data for calculating the forces and moments acting on the tyre-ground contact area during unbraked and braked yawed rolling. The methods have been verified against experimental data drawn from a wide range of sources in the literature for speeds up to 100 knots, for a wide range of tyre sizes, inflation pressures, vertical loads and runway surface conditions. Applications include estimation of minimum control speed on the ground and investigation of stopping performance with asymmetric thrust and/or asymmetric braking and/or cross winds and/or low friction surfaces.