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I have difficulty hitting the bar with my shoulders exactly horizontal. I tend to overrotate a little. How do I control the rotation. I also struggle to get my ancles out of the way of the bar. I "kick" my legs with my legs nearly straight in a long sweeping action. Looking  at videos of worldclass jumpers I can see that they bend their knees the moment their hips cross the bar pulling their legs "up" just to kick them straight just before tha ancles hit the bar. How do I learn that action?