Its called Gyroscopic precession and in laymans terms it means that if you exert any sideways force on a spinning wheel, the result will be felt 90 degrees in or with the direction of rotation.
Imagine the front wheel of a bike and you are looking at it down the forks from above. Travelling along the road the top is spinning away from you. You push on the right handlebar (or pull on the left one) which is going to try to turn the wheel to the left. In effect you are exerting a force on the rear of the wheel from the left side (or the front of the wheel from the right, though its easier to visualise it on the rear). Following the above principle, any force exerted on the left rear of the spinning wheel will take effect or be felt (after 90 deg) at the left top of the wheel. This will have the tendency to roll the bike right. This is how we lean the bike using countersteer. Then it is all up to the shape or profile of our tyres to provide the turning force.
As a side issue, I often think about that poor tyre relative to the road. The axle (centre of the wheel) is travelling at the speed of the bike. The top of the tyre has to be advancing at twice the bikes speed and the bottom of the tyre (the bit touching the road) is doing 0 (Zero) speed (assuming no wheel spin). A few numbers to get the mind going on tyre forces. A sprot bike doing 300 kays requires its tyres to accelerate from "0" Kays to 600 Kays than back to "0" Kays in one revolution..!
I might be talking shit, but thats the way I see it and the physicists out there will no doubt shoot me down In flames.
If you love it, let it go. If it comes back to you, you've just high-sided!
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