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hmmm... in physics there's a thing called normal force. That is, the force that pushes back at you. When you stand on the ground, your body pushes into the ground, but the ground pushes back up.
When riding the Segway or the Craigway the normal force is much different. Your body pushes straight down, always, but the normal force pushes back up from the axle at the angle you are tilted.
What I tried to say is that when you break up that angular force into it's two direction, horizontal and vertical, the horizontal force is never a full 150 pounds. If you tilt 10 degrees forward your horizontal force is about 26lbs.
I'm getting lost on how i get that force out of the motors... I've calculated out momentum, rpm, torque yadda yadda yadda...
So i guess those engineers get big $$$ for a reason. I hope that helped a little.
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