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Physically Simulated Bicycle

Right now im trying to figure out how to create a physically simulated bike. Not sure how i would go about it, i took notes from this video and it helped my understanding of a few things but im still not sure where to start with it.
Im sure people know what i mean by physically simulated, but just do clarify a little, I do not mean this.

Also im sorry if i posted this twice, it didn’t appear the first time i posted it so i thought something went wrong.