Terramechanics is the broad study of terrain-vehicle systems. In this book, the authors analyze the complex physical processes associated with the static and dynamic interplay between wheeled and tracked vehicles with natural and man-made surfaces and provide mathematical models of these processes. They focus on the technical or engineering problem of predicting the performance of a specific vehicle-terrain system, such as the generalized mobility of a specific vehicle over a given terrain, the trafficability of a terrain to the passage of various types and numbers of vehicles, traction performance parameters such a tractor drawbar pull and bulldozer blade push, and vehicle travel speeds.