The axis of the motor doesn’t need to be parallel to the axis of the wheel.
If the axis of the motor is vertical, you could use a ring and pinion gear to transfer the torque to the driveshaft running out to the wheel, and have the steering wheels pivot around the axis of the motor.
The axis of the motor doesn’t need to be parallel to the axis of the wheel.
If the axis of the motor is vertical, you could use a ring and pinion gear to transfer the torque to the driveshaft running out to the wheel, and have the steering wheels pivot around the axis of the motor.
Ok but then torque changes when you turn the wheel. Hopefully the effects are too slight to matter