Anyone who has learned to ride a bicycle has experienced the feeling that one will never master it until suddenly, you get the hang of it and feel that sense of exhilaration as for the first time you cruise along without fear of falling. The bike now seems so stable that you cannot imagine why it took you so long to learn. But why it is so stable is not easy to understand. I have written before about how the stability of the humble bicycle is actually quite mysterious from a physics point of view.
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