functions  example 10.9   p.249

tt1[x_, 
        y_] := {{1, 0, 0}, {0, 1, 0}, {x, y, 1}}
rr1[ψ_] := {{Cos[ψ], Sin[ψ], 0}, {-Sin[ψ], 
          Cos[ψ], 0}, {0, 0, 1}}
ss1[a_, b_] := {{a, 0, 0}, {0, b, 0}, {0, 0, 1}}

\(\(\(zh01[d0_, n_] := 
      Table[Join[d0[\([i]\)], {1}], {i, n}] (*to\ add\ 1*) 

    zh10[d1_, n_] := 
      Table[Drop[d1[\([i]\)], \(-1\)], {i, 
          n}]\)\(\ \)\( (*to\ remove\ 1*) \)\)\)

car data and drawing function

nod = {{0, -0.5}, {1, 0}, {0, 0.5}, {-1, 0}}; 
    nd = Length[nod]

para = {e1 -> {1, 3}, 
          e2 -> {2, 4}};
ele = {e1, e2} /. para
ne = Length[ele]
nl := je ->  Length[ele[[i]]]

dat = 
      Table[nod[[ele[[i, j]]]], {i, ne}, {j, je /. nl}]

Table[
      Graphics[{Hue[0.9], Line[dat[[i]]]}], {i, 
        ne}]
Show[%, AspectRatio -> Automatic, 
      GridLines ->   Automatic]

car lane chaged

vm = 
      vkm 10^3/
            3600  /. vkm-> 100

xt = vm t;
yt = 
      10 (1 -  
              Cos[ωn t] Exp[- ζ ωn t]) /. {ωn ->  0.5, ζ ->  0.2}
ψt = Arg[vm + I Dt[yt, t]];

dcar[x_, y_, ψ_, a_, 
        b_]:={ta = rr1[ψ] . ss1[a, b] . tt1[x, y]; 
        nod1 = zh01[nod, nd] . ta; nodt = zh10[nod1, nd]; 
        car = Table[nodt[[ele[[i, j]]]], {i, ne}, {j, je /. nl}]; 
        Table[Graphics[{Hue[0.9], Thickness[0.02], Line[car[[i]]]}], {i, 
            ne}]}

dcar[0, 0, 30  °, 1, 1]
Show[%, AspectRatio -> Automatic, 
      GridLines ->   Automatic]

zu0 = 
      ParametricPlot[{xt, yt}, {t, 0, 25}, 
        PlotRange -> {{0, 700},  {0, 20}}, AspectRatio ->  0.3, 
        GridLines ->  Automatic]

zuall = 
      Table[Show[zu0, dcar[xt, yt, ψt, 1, 1]], {t, 0, 25, 1}]

Show[
      zuall]

scale modification

hi = 700/
          20  0.3  (*conpensation AspectRatio effect*) 
zuall = 
      Table[Show[zu0, dcar[xt, yt, ArcTan[Tan[ψt] hi], hi, 1]], {t, 0, 
          25, 2}]

Show[zuall]