Comments on Franke, Suhr and Riess (1990): 
It took me some time to understand Figure 1. The left rotation \phi is a 
rotation of the front frame, the right rotation -\phi is a rotation of the 
rear frame. Eq. (1-3) seem to be correct if the sign of \beta_f is reversed, 
or the figure is changed. For zero steering angle, the betas should have an 
opposite sign. The main approximation seems to be in Eq. (15-17), where it is 
said: 'Only the most important angular momenta are taken into account, ...' 
So no full agreement with our results should be expected. 
I did not check the equations of motion (23). 

Another puzzle for me was the bicycle wheel on the preprint. It has 32 spokes. 
The spoke pattern is very strange. If the spokes go to the two flanges 
alternately, one flange has all pulling spokes and the other has only pushing 
spokes. So probably two consecutive spokes go to one flange and then two 
to the other flange, etc. 

JPM, Nottingham, 31 Oct. 2005.