From: Burst Oscillations in the Accelerating Bicycle Date of download: 11/10/2017 Copyright © ASME. All rights reserved. From: Burst Oscillations in the Accelerating Bicycle J. Appl. Mech. 2010;77(6):061012-061012-20. doi:10.1115/1.4000909 Figure Legend: Tire-force system for the inverted-pendulum model. The rider-machine mass center is located at C, the whole-machine weight is Mg, the centripetal force is Mv2/ρ, in which ρ is the turn radius of curvature, the bicycle’s roll angle is φ, the road camber angle is θ, and the tire makes contact with the road at P′. The distance CP′ between the mass center and the ground contact point is lo. The combined tire normal load and side forces are given by Fz and Fy, respectively, and are applied at P′. The force Fz is normal to the road surface, while Fy is tangent to it.