Correct - high lean angles by themselves do not mean faster - just more risk. Someone, more agile than me, can get off the bike more and only lean the bike 30degrees to achieve the same cornering as me at 40degrees.
I'm certainly no gift to motorcycling and deffo can't get away with wearing tight tops(!) but the trick to hanging off is to lock your outside knee into the tank as you approach a corner, have your toes on the inside peg and your head positioned looking down the track towards where you want to go somewhere above the inside part of the bars with your inside knee effectively hanging loose - you can practice this with the bike on a paddock stand - obviously without falling onto the garage floor.. as you tip into the corner the bike stays relatively upright while you are 'hanging off' and hey presto without any effort, reaching for the ground / whatever, you'll hear the pleasing sound of slider on tarmac if you're going at a reasonable pace - I also find this a good gauge of how far over I am. The pics of Darryl and Pete show this nicely in the Snetterton thread - your pics good look too btw, well at least on the bike!!
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