i could try to explain but itll be easier to just make it and show you XD 
although i can try to make it less mystical:

<https://lh5.googleusercontent.com/-bj7SXouwNqA/Ux3mHHHPA-I/AAAAAAAAAL0/J21XWG-aYHU/s1600/subtractor2.jpg>
the main motor turnes the first differential like in a car,while the second 
diff is pushed by the steering motor,one output of diff2 is directly 
connected to a sprocket,driving it one way,while the other otput of the 
diff2 is reversed,the reversed output is then connected to the OTHER 
sprocket,making the left and right rotate oposit eachother,making a 
turn,with this system it is possible to get pivots aswell as more efficient 
turns,as the steering speeds up one track,rather than slowing one 
down,wasting energy as friction and heat:
in the picture above,the reds are output of the transmission,while the 
bottom green is the main drive,and the top green is the steering(sry about 
the lego,its all i could find)

> "One motor does forward reverse the other does turning??? Huh? "
>
> did that help? (sry im so technical when i ranble,just passionate about it 
> or something XD )
>  

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