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the equation for static friction coefficient is:

static friction coefficient = force required to break bond / weight of object (tire)

you need the friction coefficient between rubber and grass, say its 0.5, this means the force you have to apply to equal the friction force is:

0.5 = x / 30

x = 0.5 * 30

x = 15 lbs f

anything greater than 15 lbs f will break the bond and accelerate the tire.

notes :

1 / moving friction coefficient is usually less than static friction coefficient, so youve less drag once its moving.

2 / friction coefficients are never greater than 1.0

actually , some friction coefficients do exceed 1.0 , see Google / friction coefficients table

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