Gyroscopic effects play a big role. When you have a spinny thing, it’s hard to get it to change direction (kinda like how it’s hard to move a heavy object). It also doesn’t change direction the way you’d expect. The bike doesn’t actually want to tip over, the wheels want to turn left or right.
Here’s what affects this. Wheel weight, heavier wheels have more momentum (although this has drawbacks). Larger wheels, wheels with a larger radius have more angular momentum even if they weigh the same. The shape of the wheel matters as well. If you have the weight distributed further out from the center, you increase the angular momentum. Finally the speed plays a big role. The faster the wheel spins, the more angular momentum there is. You notice how you’re more unsteady when you’re going really slow?
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