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Drills

Rockbacks:
Get a Stubby pole piece or a broom. Lay on the floor and rock back and up into an inversion. Tip: Guide your top hand into your thigh and up the inseam.

Inversions:
Get a Stubby pole piece or a broom. Stand with feet together and imitate the inversion positions on the pole. Tip: Take the top hand to the ankle and extend up the inseam until you reach your chest or as high as you can go.

Full Takeoff
This one is more tricky. Try a few lunges without a pole first until you have the balance and distance right. Once you have that get the stubby and practice takeoff positions.