Theory of Machine
A disc is a spinning with an angular velocity ω rad/s about the axis of spin. The couple applied to the disc causing precession will be (where I = Mass moment of inertia of the disc, and ωP = Angular velocity of precession of the axis of spin)

(1/2).Iω²
I ω ωP
(1/2). I ω ωP
Iω²

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Theory of Machine
The Ackerman steering gear mechanism is preferred to the Davis steering gear mechanism, because

The Ackerman steering gear consists of turning pairs
Both (A) and (B)
The Ackerman steering gear is most economical
Whole of the mechanism in the Ackerman steering gear is on the back of the front wheels

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