Hi I have been having a hard time visualizing how a car must turn in a curve we know 2 things: 1. if the steering wheel is held at an angle, the front wheels must be at a certain angle relative to the car frame as well as the back wheel at all time. 2. the wheels cannot have any velocity component that is perpendicular to the direction of the tires or or the car would be slipping. so assuming we have a car with front wheel inclined angle , initially at rest, how is its motion going to be like? I imagine that just after t = 0, both wheel front and back would have to move toward there they were oriented at t=0 because as lim t goes to zero their instantaneous velocity must be along the tires(perpendicular to tire's normal) , but if that is the case then the backwheel would have violated (2) so I thought, could it be that the outter wheel to whatever direction is moving faster? but then it would violate (1) as @ t= t+dt, the relative length between the two back wheel would then increased by a small amount. thank you guys!