A truck for a riding device with three primary motions of leaning, steering, and floating, comprising three rigid bodies, a baseplate, a revolute floating kingpin, and a hanger. A revolute joint moveably connects the kingpin and baseplate, an upper spherical joint moveably connects the baseplate and hanger, and a lower spherical joint moveably connects the hanger and kingpin. The upper and lower spherical joints define a hanger pivot axis, with a virtual pivot point at the intersection of the hanger pivot axis and a line vertically projected from the axle axis. A longitudinal roll axis is coincident with the axis of rotation of the revolute joint. In a riding device, a virtual pivot point roll axis is coincident with a virtual line between a virtual pivot point of the front truck and a virtual pivot point of the rear truck.