In the introduction several samples were given to show under what circumstances lateral forces can occur on steered pneumatic tyres in agricultural soil. With the aid of a test setup developed for this purpose the lateral forces and rolling resistances, together with wheel sinkage and the negative wheelslip occurring on the steered front wheels of tractors and on tyres of agricultural machinery, were measured in the soil tank of the Institute for Agricultural Machinery of the Technische Hochschule Munich. The rolling resistance coefficients, which are already very high at zero slip angle on loosely cultivated soil ( ϱ=0·2), are doubled, however, at a slip angle of 20°. For a 28° slip angle, maximum rolling resistances of 70 per cent of the wheel load result! The lateral force coefficients increase less steeply than on a rigid track, but they attain higher values at larger slip angles. With increasing diameter the rolling resistance coefficients, as is to be expected, become smaller, and the lateral force coefficients larger. With incresing tyre width both the lateral force coefficients and the rolling resistance coefficients decrease. For this kind of loose soil the inflation pressure of the tyre brings about only a small reduction in the rolling resistance coefficients. The rut depth and the amount of negative wheelslip increase with the slip angles. Hence for a large slip angles a wide and deep rut results. Furthermore, attempts were made to establish a theory of lateral forces on a yielding soil. With the aid of an analytically representable simple pressure distribution within the contact area, and by analogy with lateral force theories for a rigid track, an equation for the lateral shear stress distribution in the bearing area could be found. To this, the lateral pressure exerted on the wheel segment that has penetrated into the soil during an inclined travel direction has to be added as another lateral force component. Again a relationship could be determined for this, analogous to the passive earth resistance. The agreement between measurement and calculation, despite the assumptions and simplifications, is satisfactory.