Hi, This is partly inspired by the questions in the thread about normal forces on a cornering car but I thought I'd post here instead of mix that thread up with my question. So suppose we have a biker leaning into a corner. There are the normal force and the force of friction which act at the contact point between the wheel and the road. The weight of the biker acts downward from the CG. Let's consider the contact between the wheel and the road as our axis of rotation. If I look at it from the non inertial frame of the bike, there are two torques: The weight and the centrifugal force and they are in opposite directions so they can balance each other out and the biker's lean angle remains constant. However, if we look at this from an inertial frame, there is only one torque: The torque which arises due to the weight and this should make the biker lean even more (and eventually fall). There is nothing to compensate this torque so what am I missing here? How should I correctly analyze this from an inertial frame? Thank you!