[utopia]

Gazza ....

Yes, I've done the bicycle wheel experiment many times.
So did all my kids when I explained countersteering to them.

My favourite experiment was approaching a particular, smooth right-hander on my route home from work, while sitting on my left hand.
The right hand was held "open" such that there was enough grip on the throttle to maintain a throttle opening but it was impossible to pull on the right-hand bar .. only pushing was possible (ie turning left).
Flat out on my old TL150 was only 55mph but I used to take that right-hand bend flat out every single evening while being physically unable to steer right directly.

I had done the theory some years earlier but, as Emzedder described, I'd been doing exactly the same thing by feel for years, without needing to do the sums.