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Flowing from one technique to the next is the true power of softer MA's. They EXPECT you to resist certain ways that they can take advantage of. Evassion is also a key component. Ueshiba, they say, could dodge even sword blows. If so, what the hell could I ever do to hit him?
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The ability to do what you do fluidly is a huge asset in all martial arts. Think boxers aren't fluid because they are very direct? Think again. How can you hit O'sensei? Do it like you should do it in a real fight. Don't let him know it's on until you've already landed your first hard shot. Also, there are a lot of silly myths regarding him (and many other elder masters).