I'm not sure whether this is the correct community to post this, so pardon me.
I was studying the Bicycle Kinematic Model and came across 3 possible reference points for analysis - the rear tire, front tire and the centre of gravity. For all these reference points, Instantaneous Centre of Rotation was applied and velocities were derived.
I have depicted the velocities of the wheels, the steering angle and the angular velocity of the system.
Under no-slip condition, velocity of the rear wheel can be expressed as -
The front wheel velocity can also be expressed similarly,
For both these equations to hold, R must be equal to R', which is not true. Where am I going wrong? Either both wheels must have different velocities or the no-slip condition must be false, both of which the Bicycle Kinematic Model refutes. I believe I'm missing something right under my nose. Any help will be appreciated. Thanks!