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@whatfriends
they make it slower and less sweaty and more work on hills (weight is on the bike). the only weird balance thing i find is when i tilt the bike a little to swing my leg over to get on. if its loaded heavy then it feels like it wants to tip. oh and same when you lean the bike against a wall. i love panniers and if had a commute i'd use them everyday for it.
bags are great in the winter though, they help keep you warm.
as for the maths bit... N+1...thats all i know.