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The description of the movement of bodies by their position, velocity, acceleration (and possibly higher time derivatives, such as, jerk) without concern for the underlying dynamics/forces/causes.
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Tricycle kinematics
of course, different points of the tricycle will have different speeds.
Taking the tricycle reference system centered at mid of rear axis, with $y$ in the direction of the axis, then all points at $x …
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Describing a singly articulated system with forces on the joints
This is more a hint than a complete answer, but I hope it could be useful.
It is supposed that the triangle is laid on a horizontal plane, or however that it is not subject to gravity.
In this situat …