That's the beauty of Judo... It doesn't take much force to topple or choke. When you need to apply torque to destroy a limb you can use both hands and arms, both legs and your whole core against one joint...
Targeting specific "vital" areas is not unique to judo.
Gentle is sort of a mis translation of "JU"...
People are breakable. 
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"In all countries where personal freedom is valued, however much each individual may rely on legal redress, the right of each to carry arms - and these the best and the sharpest - for his own protection in case of extremity, is a right of nature indelible and irrepressible, and the more it is sought to be repressed the more it will recur."
James Paterson
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