Theory of Machine
The fundamental equation for correct steering is (where φ and α = Angle through which the axis of the outer wheel and inner wheel turns respectively, c = Distance between the pivots of the front axles, and d = Wheel base)

sinφ + sinα = b/c
cotφ - cotα = c/b
cosφ - sinα = c/b
tanφ + cotα = b/c

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Theory of Machine
Oldham's coupling is the

Third inversion of double slider crank chain
Second inversion of double slider crank chain
Second inversion of single slider crank chain
Third inversion of slider crank chain

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