What would the equations be for the robot\'s angular and linear velocity when ce

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What would the equations be for the robot's angular and linear velocity when center of gravity is at P and also P2? I think I'm doing it wrong...

For example when center of gravity was at P I had velocity =

Where Phi L is the angular velocity of the left wheel, and Phi R is the angular velocity of the right wheel.

What would the equations be for the robot's angular and linear velocity when center of gravity is at P and also P2? I think I'm doing it wrong... For example when center of gravity was at P I had velocity = v = rx phi L/3 + 2 x 2r x phi R /3 Where Phi L is the angular velocity of the left wheel, and Phi R is the angular velocity of the right wheel.

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