Velocity of the Actuator

1) From Numerical Calculation

Railway Wheel rolling on track is a combination of translation + rotation motion

The velocity of a point on a wheel rim = 2 vcm. It means the that the wheel rotates a completely
one rotation it translate its perimeter.
For the radius of wheel= .460m
Speed of vehicle= 30 km/hr = 9.3750 m/s
Time = Distance /speed
= (2*pi*r)/ 9.3750 = (2*3.12*.460)/ 9.3750 = 0.308 sec

Consider a point P on the surface of the wheel. If you look at the horizontal velocity of that
point in the frame of reference of the wheel (axis stationary), then for a wheel of radius r with
angular velocity ω that point will have horizontal component of velocity
vh=rωcos(ωt)
The linear velocity of the wheel v= ωr. If we add those two velocities together, we find that
the horizontal velocity in the frame of reference of the rail is

v=rω(1-cos(ωt))
The maximum horizontal velocity of the follower will be 17 m/sec (from below fig.) If we
increase time points for the contact we can observe the highest peak is common.
For actuator the required speed is = 2*17 m/s= 34 m/s= 122 Km/hr