That&#x27;s good stuff. It seems a bicycle, or even a motorcycle, might be said to only <i>approach</i> a state of &quot;balance&quot;. For any particular path, a different amount of lean is required. If the vehicle and rider had <i>exactly</i> the right amount of lean, the tires could simply travel the path. Since the actual lean is always somewhat &quot;inaccurate&quot;, the tires (especially the front) must oscillate around the path. The greater the angular momentum of the tire&#x2F;wheel, the smaller the required magnitude of oscillation for any particular lean inaccuracy. At some large lean inaccuracy, the required oscillation will exceed the capabilities of the rider and there will be a crash.<p>As you say, we&#x27;re repeating each other. Still, I think I understand this topic better now than I did before.