I still find Jobst Brandt’s discussion of gyroscopic forces and balance very helpful.
Here are the comments on riding with no hands:
”
Those who ride no-hands sense and make use of the small gyroscopic effect of the front wheel to steer. This, together with trail of the steering geometry, stabilizes steering. Without trail, the bicycle would have poor straight -ahead preference and riding no-hands would be difficult. Many bicyclists never master riding no-hands because the gyroscopic forces are too small for them to detect. Hands on the handlebars completely obscure these forces.
For those who ride no-hands, countersteer should be visible and obvious because the bicycle must be leaned away from the preferred lean angle and direction of a curve so that the turn can be initiated. With hands on the bars, although the opposing lean is unnecessary, countersteer is still needed and can be done without counter-leaning.”
Here is the full article:
https://www.sheldonbrown.com/brandt/gyro.html
Otto