I'm conscious of stepping in to the deep end, but...
A cylindrical 'tyre' with infinite 'stiffness' (Elastic Modulus) will never generate a lateral force; it has no <argh!>'grip'</argh!>
The same 'tyre' with limited 'stiffness' exhibited as solely conicity will show a lateral force exactly perpendicular to the forward direction. This is why a stationary tyre pushed sideways won't accelerate, (and therefore cars parked on cambered roads don't slide sideways off of them - Amoz - another example of 0 slip angle and lateral friction which JT mentioned earlier).
Purely theoretically, yes, zero slip angle > no resolved lateral force > no acceleration > constant velocity > no turning, and some of the graphs posted on this thread show this. But in the book JT posted there are a lot of 'approximately equal to' signs, and 'assumptions' still. So it's clear that tyre <argh!>grip</argh!> models rely on empirical data and cannot be modelled purely theoretically, nor is grip an exact science. (Hence the name 'tyre
engineering').
Oh, and Ben:
The UN wrote: Everyone has the right to freedom of opinion and expression; this right includes freedom to hold opinions without interference and to seek, receive and impart information and ideas through any media and regardless of frontiers.
So let's not quote the freedom of speech article selectively.
"A wise man speaks because he has something to say; a fool speaks because he has to say something."