[Ether]

Here's another example.

Suppose you want to pivot the bot clockwise around the front right wheel (see sketch) at 90 degrees per second.

Trackwidth = W = 22/12 ft. Wheelbase = L = 26/12 ft.

ω = π/2 rad/sec

FWD = ω∙(W/2) ft/sec

STR = -ω∙(L/2) ft/sec

K = (L+W)/2