[Ether]

Physics Quiz 10 part D:


Assume the following:

- wheelbase=24 inches, trackwidth=30 inches

- center of mass 150lb located 3 inches forward and 4 inches to the right of the center of geometry

- assume flat level floor, and the bottom of all four wheels coplanar

- skid-steer vehicle with 4 standard non-treaded wheels, except the 2 front wheels are badly misaligned:
--- FrontRight is 0.22983514251446 radians CCW
--- FrontLeft is 0.65426122466113 radians CW

- coefficient of kinetic friction 0.7, independent of speed and direction

- left wheels being driven forward at tangential speed 2 ft/sec

- right wheels being driven backward at tangential speed 2 ft/sec

- at steady state, the vehicle's center of rotation is located at the center of mass

At steady state, how fast is the robot rotating?