Exercise 3, Problem 1.

Finding α, β and l (from length) for the three wheels.

Wheel 1, Left (back): [π/2  0  w/2]'
Wheel 2, Right (back): [-π/2  π  w/2]'
Wheel 3, Middle (front): [0  β(t)   L]'

Note: for the right wheel, β is π because, when α is applied, it runs backwards; thus it must be turned another 180 deg (π rad);