Abstract The author proved in an earlier article that the shear diagram is not in accord with its mechanical definition. The shear stress cannot be zero at the beginning of the initial rising portion of the curve. Shearing is not an increasing loading process, rather it is a limiting case to which a finite shear stress belongs. On the other hand the sheared surface varies under the tire. There are kinematic reasons for this. Points on the tire surface describe a looped cycloid and they slip in a backward direction (opposite to the direction of travel) while contacting the soil. Thus the driving force, which points in the direction of travel, is the product of the shear stress of finite magnitude and the sheared area. The latter increases proportionally with slip. The author describes his equation which is based on the principles discussed above. He supports his theory with a numerical example.