Understanding Vicarious Liability in Torts - Need Help, Guys!

I've read R. v. Central London Corp (1840) - it's all great, but the textbooks explain vicarious liability in a weird way. They just list it as a defence, but I want to know how it plays out in real life. Can someone give me an example or a case study where a principal is held liable for the actions of their agent? Not just any example, but something specific and easy to understand. Maybe a case involving a company or a government agency? I've studied all the big cases like Mohan Lal v. Raj Narain Singh (1966) and M.K. Mohindra v. State of Punjab (1978), but I still feel like I'm missing something. Help me out, guys!