Horses weren't the tanks that people seem to think they are.
Imagine a line 10 men deep (not unusual in fact rather thin), then imagine horsemen charging it. Front line of infantry are in trouble, unless they can keep the horses away with pikes they are gonna be hit by 800 pounds of man and beast. The second line is also in trouble, they are gonna be hit by lances. Third line are untouched apart from being pushed backwards. Now the Cavalry first line is in trouble, their horses have just run into a solid wall of men, they have run onto spears and swords etc, and then had the men behind them hit them in the back. Now the charge is over the front lines of both sides have been mostly wiped out. Now you have a heavily armoured man on a horse using a sword, mace etc (his lance will have broken very quickly). He is packed in between his fellows and the enemy front line, his horse is very vulnerable, because while you can armour his breast against a pike how do you armour his knee joints or hamstrings? Thus our infantry can deal with the horse pretty easily providing they avoid the horseman's sword (and they outnumber him and he can only really use his sword on his right side (if he is right handed). Now once the horse has gone down (and it will with cut hamstrings) he is screwed. He is wearing 100 pounds of armour and while he might be able get up unassisted in normal conditions this is a battle, he might have fallen under his horse or be trapped under one of his comrades. He is screwed.
The only way a cavalry unit can break infantry is fear, if the rear ranks react to the front rank getting trampled by turning and running then the cav has one, otherwise their only hope is to retreat, which is a lot harder than it sounds, after all there are corpses scattered everywhere, you are pressed between the men behind you and on either side not to mention the enemy.
Edit: This assumes horses who have no sight, sense of smell, or generally emotion, in all probability you couldn't even get them to charge.
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