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Some options: - Earth's surface and orbit are not inertial reference frames. Probably negligible effect. - The flywheel would have mass, and would resist lateral acceleration just because of its momentum. - Maybe some rotational movement is inherent to bipedal locomotion. You mention a 5 degree rotation in the hips which might need to act against the flywheel. - "Dynamics was 18 years ago" - I never took dynamics and am missing something