A passenger car weighs 20.02 kN and has a wheelbase of 2.79 m. The center of gravity is 1.27 m behind the front axle. If a pair of radial-ply tires with cornering stiffness of 45.88 kN/rad, are installed in the front, and a pair of bias-ply tires with cornering stiffness of 33.13 kN/rad, are installed in the rear, determine:

a) The vehicle is understeer or oversteer?

b) The characteristic or critical speed of the car as appropriate

c) The lateral forces on front and rear tires (F_yf, F_yr)

d) The slip angles on front and rear tires (a_f, a_r)