Leaning suspension mechanics

A vehicle comprising:

• a frame defining a longitudinal vehicle axis;
• a left wheel disposed on the left side of the vehicle axis;
• a right wheel disposed on the right side of the vehicle axis;
• a leaning suspension system including
• a transverse beam coupled to the frame and pivotable about the vehicle axis,
• a left upper control arm having an end pivotally coupled to the left wheel and an opposite end coupled to the frame,
• a right upper control arm having an end pivotally coupled to the right wheel and an opposite end coupled to the frame, wherein the opposite ends of the right and left upper control arms are forked, and wherein at least a portion of the transverse beam is disposed between the forked ends of the right and left upper control arms,
• a left lower control arm having an end pivotally coupled to the left wheel and an opposite end coupled to the frame,
• a right lower control arm having an end pivotally coupled to the right wheel and an opposite end coupled to the frame, and
• at least one lean actuator pivotally connected between the frame and the transverse beam, the lean actuator configured to extend and retract to tilt the left and right wheels and to lean the vehicle while cornering, such that the left and right wheels tilt substantially the same amount as a lean angle of the vehicle.