When the kart is sitting still, even with the driver in the kart, turning the front wheels will cause one of the front wheels to try to lift. This is caused by the fact that the Kingpin is not vertical, but at an angle, so forcing one wheel up and the other down.
When the kart is in motion, decelerating will affect the kart so that both front wheels usually stay on the ground and the inner rear wheel is lifted up, acting as a sort of differential.
Decelerating can be caused by taking your foot of the throttle, actually braking or even just turning the wheel. (deceleration is the rate of change of motion in a straight line, so turning, not continuing in a straight line, is a deceleration and thus pushes the front wheels down)
This is why when you twist the wheel in the pits, it's the front wheels that raise, while we talk of the rear wheel lifting on the track.
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