Understanding oversteer, understeer, and load transfer all relates back to slip angles, so it's important to understand where the equation for slip angles comes from. This video derives the equation used for slip angles, as shown in the book "Automotive Engineering Fundamentals" by Richard Stone and Jeffrey K. Ball. The derivation of slip angles requires an understanding of basic dynamics, the relationship between slip angle and lateral load, and static free body diagrams of a car.
Slip Angles - http://youtu.be/9bs2cEyK7Uo
Understeer vs Oversteer - http://youtu.be/CsVg2DE0ef8
Traction Circle - https://youtu.be/JjCcFsGLpaM
Tire Load Sensitivity - https://youtu.be/kNa2gZNqmT8