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I agree practice is important. I try and imagine that I am holding a nail in my hand and want to stick it in the wall as high as I can. I am not sure if you and picture that but it really helps me with C. Elias's suggestion of keeping your knuckles towards your head. It also helps to me to get my hand straight up. This really only works for foul calls as you need a closed fist to jam in the nail.
Just a trick that works for me.
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