According to theorem of motion of centre of mass and theorem of moment of momentum about centre of mass, we derive the theorem of moment of momentum about instantaneous center of rotation.

Then obtaining the whole car dynamics parameters based on mass center coordinates formula of space force system and torque translation theorem.

It is found that basic dynamic equations can be derived from the Chenzi theorem, including three Newton's laws of motion, kinetic energy theorem, the law of motion of the center of mass.