Over years of cycling, I eventually began paying close attention to my pedaling - I began to notice what leg muscles were engaging during the pedal's revolution, began to sense the points at which the muscles went slack, when I was over emphasizing a particular muscle (calf or quad or hamstring) (aside - I love the word "hamstring" because it has "ham" in it) or, conversely, when certain muscles weren't engaging.

Though I can't pinpoint a specific episode when I busted out my newly-understood technique, I can recall somewhat the astonishment and delight I took in realizing that, by going full-focus-rev, I could immediately and demonstrably pick up speed. I could pull away from riders hammering alongside me, could ramp up the tempo and overtake laboring hill climbers, could grind away next to riders trying to pass me, and dispatch them.
Of course, simply understanding the pedal stroke isn't enough - you have to have the fitness to carry it out. If you can't kick into full-throttle and maintain it for any distance, then the knowledge of how to pedal doesn't matter that much. Short bursts of propulsion buoy the spirit momentarily, but without a base level of fitness and form you cannot maintain what the mind wants to do.
Dubstoevsky's plucky success on Justice Hill owes everything to the combination of pedal stroke awareness and being in high season form. To be able to stay in the saddle and grind relentlessly upward without losing momentum is a wicked technique to have available in the heat of the moment. Frantic didn't have it that night, only Georgie Pie and Donny Bolo seemed capable of putting in the Full Cry Churn.
The better ways to achieve more fluidity in our pedal stroke are one-legged drills and to ride a fixed-gear bike. I think, One-legged pedaling will force to pedal all the way through the stroke and will develop our muscles accordingly.
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