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Why wheels have a need for individual rpm
As long as a car goes straight all wheels rotate at equal speeds (rpm).
Cars need to make turns. In a turn the inside wheels need to rotate less than the outside wheels.
A solution is needed.
The differential
A differential is able to split the rotations delivered by the drive shaft either equally or proportional to left and right as needed.
The differential is a mechanical device that reacts to resistance. The inside wheel, by following a smaller circle, puts up resistance. The differential reacts to this resistance and allows it to rotate less. At the same time the outside wheel is allowed to rotate faster by the same rate the inside wheel rotates less.
Remember that the differential reacts to resistance - that behavior creates an unwanted effect that needs control.
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