It's a fairly complex thing to explain. Go to your local library and try to find some of these references. The principles in there are what we used for this truck. Couldn't be happier with how it performs.
1. Adams, H, Chassis Engineering: Chassis Design Building & Tuning for
High Performance Handling, First Edition, HPBooks, New York.
2. Gillespie, T., Fundamentals of Vehicle Dynamics, First Edition, SAE, 1992.
3. Milliken & Milliken, Race Car Vehicle Dynamics, Fifth Edition, Milliken Research Associates, 1995.
4. Milliken & Milliken, Chassis Design: Principles and Analysis, First Edition, Milliken Research Associates, 2002.