# Circular motion and Car's Tire Angle

I'm trying to figure out what angle to turn the front tires of my small robotic car (about a foot in length) so that it moves in a circle (on level ground) of radius $r$ (will be accommodating circles of different radii). In addition to being able to set my car's speed, it is equipped with a sensor which includes a gyroscope, accelerometer, and a magnetometer.

I'm just looking for some kind of equation that relates the car's tire angle, the car's speed, the circle's radius, and maybe the angular velocity readings from the gyroscope.

It has a car-like configuration.

• Welcome to Engineering Stackexchange. Which configuration does your robot have? Car-like with the two front wheels steerable and the rear wheels fixed? – Karlo Mar 23 '16 at 8:18
• – Dave Tweed Mar 23 '16 at 12:08