Don't forget about gyroscopic precession. I suspect that when the pilot steps on the right pedal (assuming counter-clockwise rotation of the front rotor and clockwise on the rear), both rotors have more pitch at the front than at the rear. This causes the front rotor to tilt to the right and the rear rotor to tilt to the left. To be perfectly honest, there is entirely too much monkey motion in helicopter operation and thinking about it makes my brain hurt.