[mhandley]

I've probably been a computer scientist too long, but this feels like a problem that requires complicated maths or a very simple computer simulation. In this case they end up with equations that can (for the most part) only be solved numerically, so simulation seems just as effective. But then they deduce that in general the amplitude of the path of the rear tyre is always less than that of the front. And while we can demonstrate this with simulation, we can't prove it.