Hello, everyone! My question is really simple, in fact I even feel a bit ambarrassed of asking it. :x Imagine that a car is making a constant radius turn, of a given radius R. For the purposes of this question is enough to say that the car may be thought as an isosceles trapezium, or even as a rectangle, for the sake of simplicity. My knonwns are the vehicle's center of mass longitudinal velocity, lateral velocity, and yaw velocity (the angular speed at which the vehicle changes orientation during the turn). Given also that the trapezoid has front track Tf, rear track Tr (<Tf), and a wheelbase (distance between front and rear tracks) of l = a+b, where a and b are respectively the distances with respect to the position of the center of mass of the front and rear tracks, I want to find out the resultant analytical velocities of each wheel center. I hope my description had been enough precise in order to propose the question. I've been trying to solve this question for some time now, without coming to a conclusion. I hope you guys can help me with it. I'm aware that this is a very trivial question, but I don't know where to find the answer to it. It would really help me a lot in this moment to have at least the explanation of how to find the solution. Thank you!