People keep mentioning friction, but they are missing one important part of the equation, a difference in force. The physics behind anything “turning” is a differential in lateral force being applied.
Think of it this way, turning your wheel to the right puts more force on the right hand side of the wheels. Now think of the rate of travel for the left side vs the right side. The right side has more force to contend with so it travels slightly slower than the left, this results in the left traveling faster than the right and a net rightwards change in direction.
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