Answer Happy

i want a relationship between steering angle and the speed of
the inner wheels and outer wheels
when steering the inner wheels have smaller radius than outer so
outer and inner wheels should take the same time however the radius
is different so in order to achieve this a difference in speed
should be applied. i want a general equation for the speed in terms
of steering angle.
relation between radius 1 and radius 2 in order to be finished
in the same time with different speeds, input is steering
angle output is speed.
WAN Bir RA Ring 1 1 RE TE VFI VE с RII Rrr Fig. 1. Ackermann steering model