Cars: Wheel Angle & Turning Circle Radius

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Genius271828
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My question is, if a car is moving at speed V, and its front wheels are at an angle (theta), what is the relationship between the angle of the wheels relative to them being parallel with the car and the radius of the circle at which the car goes around. Thanks.
 

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Normally the wheels have toe-in so would not be at the same angle.
 
Thank you very much (:
 

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