Well, that seems to make sense.

Now, let's muddy the waters a bit more. What happens on a trike? I believe on a rigid trike, you would have to "steer" it .. in the direction of the turn. (much like a childs tricycle)

Now, if we were to allow the front wheel and rider to lean, independent of the rear wheels (articulate, I think), would the steering be like a conventional bike or a tricycle?