I've never really got my head around the front suspension as the top ball joint is offset from the pillar, which changes the caster as you turn the wheel. Body roll also affects the steering angles as everything changes as the top link rises or falls and the body only rolls when the steering is turned. One also has to think about how the back wheels are affecting the steering as they will want to push the car straight, which will affect the balance and body as the forces look for a way out.