1. The problem statement, all variables and given/known data Bike has leaned, passing via corner. Centrifugal forces ( m*(V*V/R)*sin(alpha) ) are trying to upright the bike, gravity forces ( m*g*cos(alpha) ) to lean it further, so the balance lean angle comes tg(alpha) = V*V/R/g, where V is bike speed, R is curve radius, g is 9.81 This math calculates the cog lean easily, but neglecting the gyro effects of rotating wheels. My question is how to assess this influence for a bike in corner? 2. Relevant equations 3. The attempt at a solution Let's assume bike is turning left. So the wheels, forced by the frame. Thus wheels try to precess, their angular momentum L which is pointing left, is forced to go up, due to the ext.momentum pointing up, this way wheel axle try to upright wheel, and bike respectively, creating frame reaction momentum M which counteracts, it's vector pointing backwards. This momentum can be calculated as cause of the forced precessing wheels to left following the corner. M= WxL , where W is angular speed via the corner : V/R, L is (wheel inertial moment)*V/(wheel radius), angle between them ( which sine will be used ) is 90+ alpha(lean angle) So, may I summarize that each wheel tries to help the bike go up, with momentum : (W/R)*((wheel inertial moment)*V/(wheel radius))*cos(alpha) ?