http://www.msgroup.org/forums/mtt/to...p?TOPIC_ID=311
And a little more math for high-speed turns:
http://www.physicsforums.com/showthread.php?t=88999
And this paper, which is primarily concerns itself with the role of yaw inputs, but explains and models the 6 forces (not including rider position, which is actually a seventh parameter) in the complex role of turning a motorcycle.
http://www.dinamoto.it/DINAMOTO/8_on...ringtorque.htm