import math


def _angular_velocity_from_cog(
    cog_speed: float, length_rear_axle_to_cog: float, beta: float, steering_angle: float
) -> float:
    """
    Computes the angular velocity using the Bicycle kinematic model using COG data.
    :param cog_speed: [m/s] Magnitude of velocity vector at COG
    :param length_rear_axle_to_cog: [m] Distance from rear axle to COG
    :param beta: [rad] angle from rear axle to COG at instantaneous center of rotation
    :param steering_angle: [rad] of the car
    """
    return (cog_speed / length_rear_axle_to_cog) * math.cos(beta) * math.tan(steering_angle)