It's All About Controlling The Tires

No matter what all vehicles are governed by Newton's 2nd law F=ma.

Slip Angle	Difference of direction car is traveling and direction tires are pointed. In terms of tire design, slip angle is a safety value that comes from performance measurements and specifications of the tire including type of construction, materials used, width of tread, tread pattern, sidewall ratio and footprint (contact patch). Speed and road surface also play a role. Naturally drift vehicles require a larger slip angle than average vehicles simply staying within a lane on the highway.
Oversteer	Rear slip angle is greater than front slip angle. Back tires will loose grip and rear kicks out but front tires retain grip.
Understeer	Inverse of oversteer; back tires retain grip but front tires loose grip.
Static Coefficient	A surface friction that must be tested to be found. A measure of how much force it takes to move an object from rest.
Dynamic Coefficient	A surfaced friction that must be tested to be found. A measure of how much force it takes to keep a moving object in motion.