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Or you can just lean a bit with the handlebars straight and it'll turn. Then turn the bars to stop it falling over.It's not the Gyroscopic effect of a spinning wheel that holds a bicycle or motorbike up. Which is angular momentum btw. I'm not denying the force exists, but it's not the force holding the bike up. If you removed the wheels and replaced them with skis the same would occur.
The bike is constantly falling over and as it does the wheels track in the direction of fall causing it to fall in the other directions. thus it stays up as long as it continues to move. It is for this reason that in order to steer a motorbike around a right hand corner, you first steer the handle bars to the left, to cause the bike to fall in to the turn.
Try flying a helicopter, you analyse it all on paper then get in and it doesn't work. It has a mind of its own. Then one day you feel llike you can do precisely what you like with the thing, but you can't explain the difference.