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Okay I think I know what you're asking now. Your wording describes a robot that only has a single wheel, not a robot with several wheels where only one drives and rotates.
The important thing to understand is that in a 2 wheel drive car (front or read) or a 4 wheel drive car none of the wheels rotate at the same speed when corning. This is why they have differentials to stop the wheels skidding on corners and wearing your tyres away in no time. If you are actually driving all the wheels at the same time then your robot will be skidding while cornering which makes it virtually impossible to accurately predict where it will end up.
So to answer your question in the case of two different car type chassis, one which is rear wheel drive and one which is front wheel drive. When the cars are cornering the rear two wheels are following smaller arcs than the front two wheels. So if you set a mean velocity for the front wheels you will end up travelling at a different speed than if you set a the same mean velocity for the rear two wheels.
Hope this makes sense.
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