I once built a simple mass-spring physics engine, and this exact effect what was causing the wheels of my car-like mass-spring blob to bend "funny". It was only

I once built a simple mass-spring physics engine, and this exact effect what was causing the wheels of my car-like mass-spring blob to bend "funny". It was only after I slowly debugged it (by removing friction, then gravity, softer springs, slower timescale etc) that I felt I really got how these forces come about.