That's what I used to think until I started taking motorbike lessons.
At first I was having a hard time turning, because this whole counter-steering thing didn't come naturally to me and I would try to turn the handlebars to the left if I wanted to go left, but the bike would go the other way witch was pretty scary.
I then internalised this and the next time I rode a bike I tried this out, and indeed, this is how it works. If I turned the handlebars left at any considerable speed, the bike would lean to the right and start turning right, with the handlebars going right. It would go a slight bit left at the very beginning, but then it would go all the way right.
When I think about it, at slow speeds (say below 25 km/h - 15 mph) I only turn the handlebars and lean the bike. However, I can lean the bike at those speeds, so no counter-steering is required. I first lean the bike and then turn the bars.
However, it's very difficult to have it lean any useful amount at speed. And this is where counter-steering is useful.
Granted, this is way more noticeable on a motorbike that on a bicycle. Maybe the weight of the wheels and of the whole bike has something to do with it. If I lean a 10 kg bike but stay upright on it, the centre of gravity doesn't move much. However, on a 300 kg motorcycle, it moves quite a bit more.
At first I was having a hard time turning, because this whole counter-steering thing didn't come naturally to me and I would try to turn the handlebars to the left if I wanted to go left, but the bike would go the other way witch was pretty scary.
I then internalised this and the next time I rode a bike I tried this out, and indeed, this is how it works. If I turned the handlebars left at any considerable speed, the bike would lean to the right and start turning right, with the handlebars going right. It would go a slight bit left at the very beginning, but then it would go all the way right.
When I think about it, at slow speeds (say below 25 km/h - 15 mph) I only turn the handlebars and lean the bike. However, I can lean the bike at those speeds, so no counter-steering is required. I first lean the bike and then turn the bars. However, it's very difficult to have it lean any useful amount at speed. And this is where counter-steering is useful.
Here's a video where this is all explained, complete with fixed handlebars (that don't steer the wheel) to show how just leaning doesn't do much : https://www.youtube.com/watch?v=8_5Z3jyO2pA&feature=youtu.be...
Granted, this is way more noticeable on a motorbike that on a bicycle. Maybe the weight of the wheels and of the whole bike has something to do with it. If I lean a 10 kg bike but stay upright on it, the centre of gravity doesn't move much. However, on a 300 kg motorcycle, it moves quite a bit more.