Applications like military, agriculture, and extra-planetary explorations require the successful navigation of vehicles across different types of terrain like soil, mud, and snow. As the properties of the terrain heavily influence the interaction with the tire, it is necessary to characterize the terrain from a tire performance and vehicle mobility perspective. Failure to properly understand the tire-terrain interaction can lead to undesirable conditions like loss of vehicle mobility due to excessive sinkage. As a result, it is essential to understand the tire terrain interaction between an off-road tire and a sandy terrain. This study was done to assess the performance of tires in both pure slip (only traction and braking) and combined slip conditions (steering and acceleration). A single-wheel indoor test rig was used to conduct tests under different conditions and a force transducer was used to capture the forces and moments generated in the tire hub. In addition to this, the tire footprint was captured with the help of a light-based 3-D scanner. Key parameters were defined in the 3D scan, and these parameters were correlated to the input test conditions. Additionally, a grid of force sensors was made, and measurements of the normal force acting at a depth below the undisturbed terrain were taken. Inferences were made about the linear speed of the wheel and the length of the pressure bulb under the tire. / Master of Science / Several applications like military, extra-terrestrial exploration, and motor racing require vehicles to navigate off-road terrains like soil, snow, and ice. The tire interacts with these off-road terrains very differently from the way it interacts with the road. It is important to understand this interaction correctly as this interaction generates all the forces needed by a vehicle to perform various maneuvers like acceleration, braking, and turning. If not accounted for properly, there can be undesirable conditions like loss of vehicle mobility due to excessive sinkage in sand. Tests were performed where an off-road tire ran on a non-cohesive, loose soil under different slip ratios, slip angles, and camber angles in an indoor test rig. The forces and moments acting on the tire during the tests were measured and its variation with input conditions was studied. A light-based 3D scanner was used to capture the tire rut profile on the soil after each test. The important parameters of the tire rut were defined and the variation of these parameters with input parameters were studied. Additionally, the stresses developed below the soil surface were measured with the help of a sensor grid, which was also used to verify the linear speed of the tire and infer the length of the zone inside the soil that is affected by the tire.