Presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pair of WMRs including wheeled pairs which were dealt with in ad-hoc manners in previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF motion at a wheeled pair. The proposed method is implemented successfully to obtain the forward velocity kinematics of a WMR, and it is therefore regarded as a real counterpart to transformation methodologies widely used for kinematics of the robot manipulators.