I haven&#x27;t thought about motorcycles or rotating bodies in a while so I am afraid to say this, but I think there is a missing force in that diagram. As the motorcycle sweeps through the turn, the angular momentum of the tires is changing directions. This tries to push the bike up, the same way counter steering tilts the bike opposite the direction you turn. If this is true, the lean needs to to compensate both the &quot;fake&quot; force (acceleration) and the change in angular momentum of the wheels as direction of the bike changes.