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Yes, train wheels remain in contact with the track at all times.

The tracks support the weight of the train. They also guide the train. The wheels are shaped such that the train remains balanced on them. Any slight movement of the wheels sideways is automatically corrected so that the wheels remains exactly on the middle of the rails.

If the wheels were not in contact with the track, the train would be flying.

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Q: Does a train in motion contact its tracks?
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