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One of the techniques to begin learning new movements on the bars is using a beat swings. Beat swings done with proper body positioning help establish the rhythm of the movement establishing a foundation. Once the beat swing is mastered the next step is slowly introducing progressions within the rhythm that lead up to the full execution of the skill.
In this video, @katibreazeal provides this coaching technique to learning kipping toes to bar. When done correctly the TTB looks effortless. It is all about working smarter and not harder.