Shrimp

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Steps, in order

Put a forearm across their collarbone or neck and your other hand on their hip. Frames hold distance; don't push with straight arms.
Plant your feet and bridge into them. It only buys a moment of space, which is all you need.
Push off your foot, turn onto your side and drive your hips away from them.
Slide your bottom knee into the gap between you, shin across their hip.
Bring your other leg around, square up and close your guard or set up an open guard.

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