Hi Lee,
Hope this finds you well and you've had a happy 4th!
To tell you what is really going on at the head when certain controls is
applied is beyond my ability to explain and your ability to understand. (maybe so if we were Flight Engineers)
However, it can be simplified to server for explaination:
Imagine the rotor "disks" can be "tilted" by the controls. Fore and aft cyclic tilts both in the same direction. Lateral cyclic tilts both left and right. Pedals tilts them opposite one another. Left pedal would tilt the forward disk to the left and the aft disk to the right, thus allowing the helicopter to pivit around the center. In flight, the pedals are just used for trim, as long as the SAS (stability augmentation system ) is working. If the SAS is off, you have to use the pedals much like taxiing a tail dragger.
Of course, on a tandem rotor aircraft, one set of blades cancels out the torque created by the other set.
Hope this helps a little,
Take care,
Frank