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

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Theory of Machine
A rigid body, under the action of external forces, can be replaced by two masses placed at a fixed distance apart. The two masses form an equivalent dynamical system, if

The sum of the two masses is equal to the total mass of body
All of these
The sum of mass moment of inertia of the masses about their center of gravity is equal to the mass moment of inertia of the body
The center of gravity of the two masses coincides with that of the body

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