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Theta = ArcTan( ( TR + R + SAL*Sin(SAA) ) / ( SAL*Cos(SAA) ) ) - ArcCos( ( SAL^2 + b^2 - R^2 ) / (2*SAL*b) ) - ArcTan( (T/2 - MD)/ Wheelbase )
Since SAL, SAA, R, b, MD, T and Wheelbase are constants we know have Theta as a function of rack travel.
where R = Tie Rod Length, T = Track, SAL = Steering Arm Length, SAA = Steering arm angle, TR = Rack Travel, MD = Steering arm mounting distance from wheel, Theta = Inner Wheel Steering Angle, Phi & Alpha are angles found through geometry, and b is a length found through geometry.
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