You described it more succinctly than I. So if I understand correctly, you always counter-steer relative to the &quot;steady-state&quot; of whatever turning radius you currently have, right?<p>If your wheel is turned right 10 degrees, and you&#x27;re in a steady state right turn, then setting the wheel to 5 degrees right is counter-steering that will quickly increase your turning radius.<p>This is the bit that makes it a little harder to convince skeptics -- steady state of a right turn is steering right. What &quot;counter-steering&quot; means is how you steer relative to steady state. Yes?