Countersteer

Countersteering is used by single-track vehicle operators, such as cyclists and motorcyclists, to initiate a turn toward a given direction by momentarily steering counter to the desired direction ("steer left to turn right"). To negotiate a turn successfully, the combined center of mass of the rider and the single-track vehicle must first be leaned in the direction of the turn, and steering briefly in the opposite direction causes that lean. The rider's action of countersteering is sometimes referred to as "giving a steering command".

The scientific literature does not provide a clear and comprehensive definition of countersteering. In fact, "a proper distinction between steer torque and steer angle ... is not always made."

When countersteering to turn left, the following is performed:

While this appears to be a complex sequence of motions, it is performed by every child who rides a bicycle. The entire sequence goes largely unnoticed by most riders, which is why some assert that they do not do it.

It is also important to distinguish the steering torque necessary to initiate the lean required for a given turn from the sustained steering torque and steering angle necessary to maintain a constant radius and lean angle until it is time to exit the turn.

A bike can negotiate a curve only when the combined center of mass of bike and rider leans toward the inside of the turn at an angle appropriate for the velocity and the radius of the turn:

where ${\displaystyle v}$ is the forward speed, ${\displaystyle r}$ is the radius of the turn and ${\displaystyle g}$ is the acceleration of gravity.

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Wikipedia