Add this to your thoughts on pipes…….ready….. the gas that pass through the exhaust (and inlet) has a mass which means that it will also have inertia and it takes energy to move this mass and to stop it….also as you heat any gas it will expand and increase in volume, the gas need to go somewhere and that is usually out the muffler, think of a boiling kettle the hotter the water gets the greater the pressure of the gas (in this case water vapour, simplified).
Still with me

now when the exhaust valve opens the cold intake air has now become hot (expanded) and increased in volume, this
explodes out of the head past the valve, the shock wave created is travelling at the speed of
sound (340 M/S) you can feel these "pulses" at the muffler tip.
Now sound is a funny thing, as it will resonate (vibrate) most things (given a high enough frequency). The total exhaust system is made up of many different components which all resonate at a different frequency, straight lengths, curves, joints, mufflers, diameter etc. the larger the total volume of that section the greater the resonance and so the greater the pulse
Now the pulse (explosion) will travel down the exhaust and as it passes each different section, that section will resonate and as the pulse passes into another section a small (depending on the length of the section) part of the pulse/resonance will reflect back the other way. This will bounce back and forward reducing to nothing, all at the speed of sound. These pulses also compress the "standing gas" in the front of the pules adding to the fun!
for a later day.
Now what would happen if a large pulse (followed by another and another) arrived at the exhaust valve at the same time that the exhaust valve opened and that pules exited? Well it wound hinder the release of gas (expanding now in volume, mass and speed) from the chamber and may even restrict it enough that not all gases can exit before the valve shuts, also not allowing the full charge of fresh air/fuel to enter the combustion chamber (remember this is happing at the speed of sound)
not good. Note: this will only happen at a certain RPM, we have most likely all ridden bikes that had a serious flat spot or drop in power at a fixed RPM, well this can be the cause, as well as many other things, but this is the feeling from the engine that you can get.
Still with me

can we use these pulses to our advantage? Shit yeah Batman! We can create an exhaust that has the largest pulse impact the exhaust valve milliseconds before the valve opens and as it returns down the exhaust it leaves a small vacuum behind it creating a negative pressure zone, which helps "pull" the gas down the exhaust. Better off known by the masses as "exhaust scavenging".
If you have bought a "designed" (engineered) exhaust system it will have been created to have sections that will absorb these pulses and other sections that will create large pulses, creating a system that can flatten out the torque curve (street) or even enhance the torque at a known RPM (drag racing).
What does this all mean to us, well different systems will enhance the power/torque at different RPM to suit track or road, so not all systems are equal. If you put a race system on you bike with a street muffler this may be of a disadvantage on the road or track. Will you notice the difference between two aftermarket systems….maybe….. but most people don't trial several systems before deciding on the one that suits their riding. But a race team will have several systems to suit different tracks and/or different altitudes, fast open at sea level or tight low top speed at altitude.
Balance pipes are created to suppress these pulses and are usually fitted at a known point in the pulse and smooth out low speed response.
The greatest issue with exhausts is that most people are going from a "restricted" factory system to a free flowing system and anything is better than the factory system. So no matter what they fit it is always (

) better. If you mapped the torque and HP before and after you fitted an average system you will see the improvements, but, not what could have been with a quality system!
Long live the fettler
