Below, Fergus Anderson demonstrates how efficiently he could tuck into a 500 V twin. On the 250 (bottom) he shows how he could reduce frontal area by raising his legs while in a full tuck. When he used this position in a race, the officials had a fit, convinced he couldn't possibly have full control of the bike. They immediately specified that the footpegs had to be situated below axle height and that riders feet had remain on the pegs at all times. I wonder what they would have made of Valentino Rossi's dangling leg on corner entry antics.
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