A differentially$-$steered robot has the initial pose given by:

Pose $=\left[\begin{array}{c}2m\\ 4m\\ 0^0\end{array}\right]$

It is moving with constant $($but different$)$ left and right wheel velocities. After a certain interval of time, wheel encoder calculations indicate a forward motion of $2$ m and a turn angle of $+{10}^0$ with respect to the starting position. If the Borenstein odometry approximation is applied to estimate robot position:

a$)$ What is the predicted location of the robot?

b$)$ What is the actual location of the robot?