I read hoping to see some analysis of counter-steering, for the benefit of one or two people I know who shall remain nameless and don&#x27;t believe counter-steering exists, because of course, they&#x27;ve never <i>actually</i> ridden a motorcycle.<p>Went looking just now and found better explanations online than the last time I tried, years ago, but I have yet to see a satisfactory analysis of the physics. Many of the explanations claim that counter-steering is only done temporarily to begin a lean, only for &quot;setting up&quot; a turn, and then switches to normal steering. After a lot of experimentation, I&#x27;m pretty convinced counter-steering is actually always happening on a bike, but relative to the turning radius of your lean, not relative to straight, which makes it a little subtle and harder to demonstrate. If anyone knows where a solid analysis of the physics is, I&#x27;d love to see it!