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Counter steering helps you get the bike to where it needs to be to go round in circles, but getting it there is the hard bit because no matter what you do with your weight (to a point) you won't make the bike lean over without some force on the bars, even if you think that you're not applying any, because the gyroscopic action of the wheels will resist a change of direction (to a point). So you make the gyroscopic force work for you by the magic of precession. Spin a heavy wheel in a vertical plane and then try to tilt it over without letting it twist around a vertical axis...you fight it. But give it a helping twist around the vertical axis and suddenly it tilts effortlessly, only in the opposite direction to what you might expect. So it helps the whole bike lean. The rest, though, is black magic, obviously.
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