We have concluded that there are two main variables that keep a bike upright: gyroscopic wheels and centripetal force.
-gyroscopic wheels
-two gimbals perpendicular to an axis to keep each other balance
-front and back wheel act as gimbals which are perpendicular to fork, keeping the bike upright when moving
-centripetal force (center seeking)
-movement towards the center
-keeps the bike upright
-when you lean or turn, centripetal force takes action and centers yourself on the bike to keep you upright while still turning
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