Plain English Meaning
When a tire is rolling and being pushed sideways at the same time, it actually rolls along a path that is slightly off from the way it is pointed. The small angle between where the tire points and where it really goes is the cornering angle.
Full Definition
The angle between the direction a tire is rolling and the direction it is actually pointed. When a tire is steered or pushed sideways while rolling, it does not track exactly where it is aimed; it tracks slightly off to one side, and that small angular difference is the cornering angle. The tire generates side force in proportion to this angle, which is what allows an aircraft on the ground to turn or resist a crosswind.
Context Anchor
Seen during the landing roll in crosswind conditions, especially when the airplane is slowing down and the tires are carrying more sideways load.