Cornering on the street uses all the same principles as on the track, but on a smaller scale. On the track, it is necessary to hang-off, so that your knee gets closer to the ground, and can act as a feeler. On the street, you should not be dragging your knee. If you are, you are too close to the maximum traction limits, and it is only a matter of time before you get 'bit'.
When you're on the street, you should stay fairly centered on the bike, with the balls of your feet on the pegs. Almost every stock sportbike can drag the pegs without losing traction. If your foot is hanging over the peg, and you need to lean further than usual, you could easily catch your foot and bend it backwards - causing you to crash.
As for leaning a motorcycle, most bikes will handle far greater lean angles than the rider is comfortable with. Keep this in mind when you're approaching a corner that you think you are not going to make. If you've been riding at 70-80 percent, odds are you can just lean the bike more, and look at your exit. The key is - DON'T PANIC.
LATE APEX: The apex of a corner is the point where you are closest to the interior of the corner. On the street, this would either be the center line (in a left), or the edge of the road (in a right). By using a LATE APEX on the street, you get to do more braking while straight up and down, you get a better view of the exit of the corner, and you minimize the amount of time you are near the edge of the road (or the centerline).
Things to look for in a corner are the camber or pitch of the road, the shape (increasing, static or decreasing radius), is it bumpy, is there debris, is the road clear, etc. To properly do all of this, you cannot be over 80% of your ability, or you will eventually get caught - i.e. you won't have time to react and you will dump or go head on into traffic. Leave yourself a reserve that is big enough to deal with anything - even a complete road blockage.
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