Natyashastra

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आद्यस्तु जनितं कृत्वा वामश्चैव निकुट्टकम् । शकटास्यः पुनश्चाद्य उरुद्वृत्तः स एव तु ॥ ५०॥

sanskrit

The first should be generated, and the left side should form a retreat. The cart's axle should be the first, and the circular motion of the hip should be the same.

english translation

Adyastu janitaM kRtvA vAmazcaiva nikuTTakam | zakaTAsyaH punazcAdya urudvRttaH sa eva tu || 50||

hk transliteration by Sanscript