This is for my senior design project for which we are constructing a luggage propulsion system. One of the things I have to do is calculate what is the sharpest turn possible for a given speed with a given wheel distance without it rolling over. I do not have the actual numbers yet as we are trying to decide on an optimal wheel distance. I guess what I am looking for are the formulas you would use to calculate such things and maybe an example. The dimensions of our product are 18''w x 12'' l x 30''h, for the purpose of calculations we are assuming the center of gravity is right in the middle even though in actuality it is not. Thanks.