Natyashastra

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शकटास्यो भवेद्वामस्तदेवास्फोटनं भवेत् । एतदास्पन्दितं नाम व्यायामे युद्धमण्डलम् ॥ ४९॥

sanskrit

The left side should be in the position of a cart's axle, and the movement should create an explosive force. This is known as the motion that induces vibration in the exercise of combat formations.

english translation

zakaTAsyo bhavedvAmastadevAsphoTanaM bhavet | etadAspanditaM nAma vyAyAme yuddhamaNDalam || 49||

hk transliteration by Sanscript