Not sure what all this has to do with the thread title of 570 gearing?
My take on the CoG thing is that once moving, bikes rotate left/right about the centre of mass, and the closer all the heavy bits are to that, the easier it is to change direction.
Anyone remember years ago (1983?) when Honda in 500 GP put the fuel tank under the engine and the exhausts over and Freddie Spencer couldn't ride it? Too much mass, too low down. Seemed like a good idea, but did not work.
What happens when turning is the the tyre contact patches move from under the bike as the bike rotates about the CoM/CoG. Watch the bikes racing the GPs exit a corner, the tyres are out towards, or on, the edge of the track and as they straighten and stand up, they rotate around the CoG and the tyres move back under the bike, away from the edge of the track, leaving an S shaped path.
Steve