Simple? No. But the universe is not a simple place.

Definitive explanation? Yes - to a significant degree of definitive. As with all science/engineering-understanding there are always further details but this we've got pretty well down at the macro level humans operate at.

A site beloved by HN to explain this: https://ciechanow.ski/bicycle/

A beautiful site, check out the archives for other explanations and animations of things too.