(a) If the steering axle of the bike’s rear wheel is located at (x,y) and the bike’s frame points in direction θ as shown in the figure, identify the location of the ICC for this vehicle.78 Mobile...

(a) If the steering axle of the bike’s rear wheel is located at (x,y) and the bike’s frame points in direction θ as shown in the figure, identify the location of the ICC for this vehicle.78 Mobile Robot Hardware z x y Front view Side view b) Under what conditions does the ICC exist? (c) At what speed does the rear wheel need to revolve in order for all of the wheels to roll smoothly on the ground surface?