If the direction of travel is identical to the centreline of the kart, you are by definition travelling in a straight line and you will never turn through the corner.
Cornering force is generated by the sideways force of the tyres. This sideways force increases upto a certain slip angle and decreases thereafter.
A kart is said to be oversteering when the sideways force of the front tyres is greater than the sideways force of the rear tyres.
A kart is said to be understeering the sideways force of the front tyres is less than the sideways force of the rear tyres.
The rear of the kart slides when the slip angle of the rear tyres increases to the point where the sideways force of the rear tyres substantially reduces and the rear loses traction.
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