I am often in need of the basic kinematic motion equations for skid steer vehicles. I have also recently been working with mecanum wheeled vehicles. The skid steer equations are fairly simple and easy to find, however, I will include it in different versions and include a ROS approach. The mecanum wheel equations are harder to find and there are different versions floating around. The first version I found had a lot of trig and mostly worked. The version I present here is easier to intuitively understand and seems to work better (I don’t need a random scale factor for this version), I also include a ROS approach for them.