learn hang 5's with you opposite foot.
you know when you push or kick the frame round you normally start with your strongest foot on the fromt peg for me its my right foot so i kick the frame round with my left leg, then i switch my feet so my left is on the front peg and my right foot is going to step over the frame, well when i step over i put my right foot back on the peg but the back wheel always drops!! Does that make sense??
Also try hang10 and hang5 to opposite hang5 to hang5 etc... so you will learn switching your feet from the pegs without loosing your balance.
I know this might sound funny, but if you can do the Cabage Patch (Old Dance from the 80's) then Whiplashes should come easy! It's the same concept with your upper body & lower body! Your just on a bike! lol... No joke!