Yep. They used to ride right past my flat in Kemp Town. I managed to recover from the 60 seconds they took to ride past and get on with my day. Hardly traumatic.
You wouldn't get arrested for indecent exposure I don't think unless you start waggling it at folks and sticking your tongue out. You could get done for outraging public decency if somebody actually pushed a complaint I would have thought. If enough people complained about the nuddy peddlers...