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This lesson has a great board exercise to show you how to take off and get some pre rotation on your take off.  Robert uses a line on the boards to show you exactly how and where to place your free leg and the foot on the ice.  You need to let yourself pivot to create rotation on the take off.  If you have under rotations or your moving up in rotations to triples, doubles or even quads this will be necessary for you to acquire.