I did some research and found that your 1993 Chevrolet Geo Tracker is able to be flat-towed or towed with all 4 wheels on the ground. You will want to check with your dealership as the 2WD and 4WD models vary as to additional parts needed to be flat-towed.
The item you selected, RoadMaster Tracker Tow Bar, part # RM-020, would work as a tow bar for your Tracker. If you will be towing your vehicle often, I would recommend a non-binding tow bar like the Falcon All Terrain Tow Bar, part # RM-522. A non-binding tow bar allows for easier hookup and disconnecting of your vehicle.
In addition to a tow bar, you will need a base plate kit, safety cables, wiring or lighting, and a supplemental braking system.
I would recommend the Roadmaster XL Base Plate Kit, part # 118-3, which features removable drawbars. The removable drawbars make the base plate kit less visible when you are not towing the vehicle.
The Roadmaster Coiled Safety Cables, part # RM-643, will keep your vehicle attached to your motor home if your tow bar were to disconnect from the hitch ball.
For a lighting solution, you could use the Magnetic Towing Light Kit, part # C-ATL20A. If you are going to be towing often, I would recommend the Roadmaster Universal Hy-Power Diode Wiring Kit, part # RM-154 as it would just plug into your vehicle each time you tow.
Most states require using a supplemental brake system when flat-towing a vehicle. I would recommend Roadmaster 9700 Portable Braking System, part # RM-9700, which will also help reduce wear on your motor home brakes and help you slow down.
Again, you will want to contact your dealership for additional parts you Tracker may need to be flat-towed.
An FAQ Article on flat-towing is linked, that you may find as a good reference.