I've always wondered what a smooth efficient pedaling stroke feels like. In an article, the author mentions how fluid and effortless the ex-racers pedal and that he felt humbled riding with them. What did this person see that made him think that? Most important of all, is what does it feel like and how to get there?

When I think about pedaling, where I focus on smooth circles or trying to be efficient under duress, there are three key images I'll rotate through, applying only one at a time.

Sweeping the feet horizontally. This was mentioned earlier and does help smooth out the stroke.

Pushing the knees into the handlebar. I tend to focus on this more, helps increase speed and riding under effort.

Spinning tight small circles. I believe this helps minimize excessive motion in the lower and upper body and works well at higher cadence.

I believe these three visual thoughts have helped my development, but like most things, there's more work required.