Acceleration

You probably know by now that there are two accelerations, $a_{L}$ and $a_{A}$. Note that for a robot, the maximum $a_{L}$ is probably different from the maximum $a_{A}$. This is because the mass of a robot with respect to linear force available is often different from the angular momentum of a robot with respect to turning torque. As a quick example, increasing the length between the two wheels increases turning torque without changing forward force.

Once again, the acceleration for the left motor is $a_{L}+a_{A}$, whereas the acceleration for the right motor is $a_{L}-a_{A}$.