Since centrifugal is not a real force there should be a way to describe it without the centrifugal force.
particularly I want no about how the cycle is not rotating around the axis that is going through the touching points of the two wheels and the ground. My teacher always take the centrifugal force and show us that the torque cancels out with the torque of the weight. But I want to describe it through an inertial observer. According to an inertial observer there is just the torque of weight. But why isn't it rotating.