A planetary gear train which sits between the engine and driven wheels to allow them (driven wheels) to spin at different relative speeds with each other to account for varying paths taken (varying surface, turning etc.)

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Why don't FWD cars have rear differentials?

This confuses me. The point of a differential is to make it so the wheels don't slip when one needs to be turning faster than the other, such as during turns. So if the rear wheels are directly ...