diff --git a/doc/main.tex b/doc/main.tex
index 6caeb42..3d43545 100644
--- a/doc/main.tex
+++ b/doc/main.tex
@@ -56,15 +56,16 @@
                 m_{rover} &= 6 & [kg] \\
                 w &= 400 & [mm] \\
                 l &= 250 & [mm] \\
-                \alpha_{typ} &= 20 & [deg] \\
-                \alpha_{max} &= 30 & [deg]
+                \theta_{typ} &= 20 & [deg] \\
+                \theta_{max} &= 30 & [deg]
             \end{align*}
 
             De wielen hebben de volgende eigenschappen:
             \begin{align*}
                 r &= 0.075 & [m] \\
                 \mu_s &= 0,9 & [-] \\
-                C_r &= 0,1 & [-]
+                C_r &= 0,1 & [-] \\
+                J &= 2.1 \cdot 10^{-3} & [kg\cdot m^2]
             \end{align*}
 
         \subsection{Eisen}
@@ -72,7 +73,9 @@
             \begin{align*}
                 v_{max} &= 2.1 & [m/s] \\
                 a_{acc} &= 0.7 & [m/s^2] \\
-                a_{dec} &= 0.5 & [m/s^2]
+                a_{dec} &= 0.5 & [m/s^2] \\
+                \alpha_{acc} &= \frac{a_{acc}}{r} = 9.33 & [rad/s^2]\\
+                \alpha_{dec} &= \frac{a_{dec}}{r} = 6.66 & [rad/s^2]\\
             \end{align*}
 
 
@@ -139,14 +142,15 @@
                 F_{eff} &= m \cdot a \\
                 &= 1.5 \cdot 0.7 \\
                 &= 1.05 & [N] \\
-                \\
                 F_{aand} &= F_{eff} + F_{rol} \\
                 &= 1.05 + 0.24375 \\
-                &= 1.29375 & [N]
-                \\
-                T_{as} &= F_{aand} \cdot r \\
-                &=(F_{eff}+F_{rol}) \cdot r \\
-                &=97.03125 & [mNm]
+                &= 1.29375 & [N] \\
+                T_{traag} &= J \cdot \alpha_{acc} \\
+                &= 2.1\cdot10^{-3}\cdot 9.33 \\
+                T_{as} &= F_{aand} \cdot r +T_{traag}\\
+                &=(F_{eff}+F_{rol}) \cdot r +T_{traag}\\
+                &= 97.03125 + 19.593 \\
+                &= 116.62425 & [mNm]
             \end{align*}
 
             \subsubsection{Vertragen}
@@ -154,14 +158,15 @@
                 F_{eff} &= m \cdot a \\
                 &= 1.5 \cdot 0.5 \\
                 &= 0.75 & [N] \\
-                \\
-                F_{aand} &= F_{rol} - F_{eff} \\
-                &= 0.24375 - 0.75 \\
-                &= -0.50625 & [N]
-                \\
-                T_{as} &= F_{aand} \cdot r \\
-                &=(F_{eff}-F_{rol}) \cdot r \\
-                &=-37.96875 & [mNm]
+                F_{aand} &= F_{eff} - F_{rol} \\
+                &= 0.75 - 0.24375\\
+                &= 0.50625 & [N] \\
+                T_{traag} &= J \cdot \alpha_{dec} \\
+                &= 2.1\cdot10^{-3}\cdot 6.66 \\
+                T_{as} &= F_{aand} \cdot r + T_{traag}\\
+                &=(F_{eff}-F_{rol}) \cdot r  + T_{traag}\\
+                &= 37.96875 + 13.986 \\
+                &= 51.95475 & [mNm]
             \end{align*}
 
         \subsection{Dalende ondergrond}
@@ -179,13 +184,13 @@
                 &= 1.5 \cdot 1.625 \\
                 &= 2.4375 & [N] \\
                 \\
-                \alpha &= 20 & [deg] \\
+                \theta &= 20 & [deg] \\
                 \\
                 F_N &= F_{z1} \\
-                F_{z1} &= \cos{\alpha}\cdot F_{z}\\
+                F_{z1} &= \cos{\theta}\cdot F_{z}\\
                 &= \cos{20}\cdot 2.4375 \\
                 &= 2.2905 & [N] \\
-                F_{z2} &= \sin{\alpha}\cdot F_{z}\\
+                F_{z2} &= \sin{\theta}\cdot F_{z}\\
                 &= \sin{20}\cdot 2.4375 \\
                 &= 0.834 & [N] \\
             \end{align*}