How do I use Ackermann's theory to steer a car in Roblox?

I want to learn how to use Ackermann’s theory to steer a car in Roblox. It’s fairly new to me. I don’t know much about it. If there are any informal videos or documents about it please let me know.

For anyone unfamiliar with what the original post was referring to.

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I’ve used it by having angled steering rods like the diagram that @Limited_Unique posted, although I haven’t done any real calculations to make it work.
I’ve used a central steering link connected with rods and Attachments to each of the steering Attachments to each wheel. When the central steering link is rotated it pushes/pulls the rods connected to the steering Attachments and turns the wheel.
If you want to have a look you can check mine out here: Tracked vehicle, suspension and racing tests. - Roblox

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A good tutorial that I used is this one: (Unity Car Physics - Lesson 2 - Ackermann Steering - YouTube)

Although it’s in Unity, it’s easy to understand the code and provides a good explanation. For Ackermann steering, you just need some basic knowledge on how trigonometry works. (inverse trig functions to be specific.)

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