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swerve math quiz
Given:
* 4-wheel Unicorn swerve robot
* wheels located at corners of the rectangle shown in attached Figure 2
* robot is rotating clockwise around center of rotation (red dot) at omega radians/sec as shown in attached Figures 1 and 2
Problem:
Find the steering angle and tangential speed of each of the 4 wheels in terms of omega, a, b, c, and d.
Show your work.
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