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)

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

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Theory of Machine
The contact ratio is given by

(Length of path of recess)/(Circular pitch)
(Length of the arc of contact)/(Circular pitch)
(Length of the path of approach)/(Circular pitch)
(Length of the arc of approach)/cosφ

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