https://en.wikipedia.org/wiki/Ackermann_steering_geometry https://en.wikipedia.org/wiki/Ackermann_steering_geometry https://www.sae.org/news/2018/10/2018-yamah

https://en.wikipedia.org/wiki/Ackermann_steering_geometry https://en.wikipedia.org/wiki/Ackermann_steering_geometry https://www.sae.org/news/2018/10/2018-yamaha-niken-chassis-tech https://www.sae.org/news/2018/10/2018-yamaha-niken-chassis-t... I'm just a software engineer, not a mechanical engineer, so any explanation would fall short. However, I've been surrounded by world-class Mech E's for decades, so I can remember these conversations being out of my depth! I've also done urban commutes on bicycle and motorcycle for decades, so I can say given my experience, this is much easier to feel than reason about. You can tell by watching a person ride at licensing whether a person has integrated this feeling or is still reasoning about it. Hope this helps.