How do cars turn? What's the mechanism

I just had this question pop up in my head.
How do cars turn?

I know that the front wheel makes the car turn... but the back wheel stays straight, doesn't it? So even though the front wheel is at ↗ direction, back wheel is facing straight ahead and will not change direction.
I just can't visualize how changing the direction of the front wheel can also make the direction of the back wheel (and hence the whole car) change direction. Unless the back tire is skidding along the floor a bit...

If you have a toy wagon or something similar, pull it around a circle and study how the wheels move. It's difficult to describe with words only.

Basically a wheel will tend to move straight ahead, but it can be forced to follow a curve, with some slipping. There is a gear arrangement called a differential in the back (or in the front for FWD) that allows the wheels to rotate at different speeds when going around a curve, and that is very necessary or the skidding would be a lot worse.

Actually, all 4 tires skid a bit during a turn.

But look at a large truck with 2 or 3 axles in the back, and 8 or 12 tires. They have to skid a lot more.

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The differential allows the outside tire to rotate at a faster angular velocity than the inside tire. Also, do a search on the Ackerman steering mechanism which allows both front wheels to turn at different angles allowing the wheels to translate through arcs of different radii which offers turning with minimal slipping for the front wheels.

With the steering Ackerman linkage the whole vehicle turn about a point at the inward of the turn along the REAR axle axis. It has to be explained through drawing and with some search I found that the following link provides both explanation and drawing and you will find the full answer.
http://www.nationaltbucketalliance.com/t…