Calculating Arcs

Does anybody know how to calculate an arc based off of the the RPMs of two sides of a base? The 4 wheels are each 8 inches from the center line of the robot. Thanks.

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There are two arcs: one that the left wheels make and one that the right wheels make. The ratio of those arcs is the same as the ratio of the wheel velocities. The final needed piece is how far apart the wheels are, so you get two equations:

radius_left / radius_right = velocity_left / velocity_right
radius_left = radius_right + width

Then you plug in your velocities and solve for your radii.