Dom:
The top drawing on page 36 is the way a suspension ought to be . . . forget the other two. The one illustrated at the bottom would be a disaster. Another good example is the top drawing, page 37. It illustrates how the rc height changes with pivot point changes. Notice that all show the rc is above ground when the inner pivot on the upper arm is lower than the outer. The closer to paralled the arms become, the farther away the ic is, resulting in a less severe camber curve.
Something I didn't mention before is the upper arm should always be a little shorter than the lower arm to provide some camber change.
You can read about this in Fred's book, but as the rc is lowered, the car has
more tendency to roll because it increases the roll couple. Keep on reading and you'll see that the front and rear roll centers establish the roll axis, which is what the car rolls around, sort of like a hinge. See page 39--42 for an explanation. Read it over and over and over, then it may become clear.
