A comprehensive survey of literature in the field of vehicle dynamics reveals an enormous amount of individual efforts in promoting the understanding of this field. One of the most talked about classical models is the so-called “bicycle model”. Other similar models exist, but while producing preliminary and ready estimates they exclude important features such as roll and pitch degrees of freedom and dynamic load transfers.The next generation of models seems to be so complex that a mere review of them requires exhaustive endeavors. One has to devote considerable time and effort to work with such models, not to mention the need for and access to big corporate computing facilities.The main purpose of this paper is to establish a mathematical model of minimum complexity without loss of generality. It will enable one to study the dynamic behavior of cars in executing maneuvers and undergoing severe braking. The derivation of the mathematical model based on vector analysis and Euler’s equations of motion is so straight forward that any beginning student of vehicle dynamics could easily read through and build upon it any degree of complexity he/she may desire.