Steering Calculations
The calculations in the paper Steering in bicycles and motorcycles were done with MathCad, a scientific spreadsheet program developed by Mathsoft. If you have a recent version of MathCad, you can download these files from this link. If you just want to look at the calculations, pdf printouts can be download below:
Top level files:
CountersteeredMotorcycleTurn.pdf
Hip and CountersteeredMotorcycleTurn.pdf
HardHipandCountersteeredMotorcycleTurn.pdf
Subroutines:
BikeTorqueProfileSubrutines.pdf
You can download all these files at once from this link.