Everything you said is right. I&#x27;m going to totally geek out here, so forgive me. I don&#x27;t intend to argue with you at all, just clarifying my own thoughts and explanation.<p>I would call the back and forth &quot;balancing&quot;, and not counter-steering. You go back and forth in order to keep your center of mass positioned, on average, over the line that connects your two contact points with the ground. But I think you&#x27;re continually counter-steering while you balance! (Unless you are leaning really fast back and forth, but that&#x27;s not how we ride bikes, right? We steer to balance...)<p>Counter-steering (in my mind- this is not necessarily generally accepted) is always an instantaneous effect where you steer the front wheel to the left of where it is, in order to turn more right than you&#x27;re currently turning. I <i>think</i> that you are always counter-steering, even on a bicycle.<p>My theory is that if you put any inline two wheel vehicle, regardless of motor or mass, into a constant speed, constant radius right turn, then the stationary position will be the front wheel is steering to the right a bit. Now is where counter-steering comes in. In order to increase your turning radius, or straighten out and stop turning, you steer into the turn by pushing forward on the left side of the handlebars. In order to decrease your turning radius, or turn tighter, you push on the right side of the handlebars, thus steering the wheel more left than it currently is. For this second part, your front wheel might be steering right of center the entire time, the critical bit is that you&#x27;re steering left of where you were in order to tighten your right turn.<p>I think counter-steering is going on at all times, even while you&#x27;re swinging back and forth balancing on a bike. In fact on a bike its a lot easier to experience counter-steering when you&#x27;re coming out of a turn than when you&#x27;re going into one. I think this is what people mistake for steering right to turn right. You do steer right, but it happens after the turn started, you always turn into the turn in order to straighten out. It just happens so quickly and automatically its hard to notice its there.<p>What do you think, sound plausible? The implications of this would mean that mass &amp; gyroscopic effects don&#x27;t have much to say about counter-steering specifically, they just change how much you can turn by leaning vs turn by counter-steering. With bigger bikes, you can&#x27;t do much by leaning. (I think I&#x27;m just repeating what you said here.) But I also think we use a lot more counter-steer than lean on bicycles, and just don&#x27;t know it!