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To negotiate a turn successfully, the combined center of mass of the rider and the single-track vehicle must first be leaned in the direction of the turn, and steering briefly in the opposite direction causes that lean. [1] The rider's action of countersteering is sometimes referred to as "giving a steering command". [2] [3]: 15
Internal forces, those between components of the bike and rider system, are mostly caused by the rider or by friction. In addition to pedaling, the rider can apply torques between the steering mechanism (front fork, handlebars, front wheel, etc.) and rear frame, and between the rider and the rear frame.