With the shoulders and hips fully turned, catch the naval with a right elbow pitching motion, while laterally shifting the left hip past the left foot. You will be up on your right toe as the anatomical limit of the slide is reached, the elbow will continue to it's limit, and the hips and shoulders uncoil driving the right forearm down through impact. This will give the max possible pitch elbow. You mentioned shanks from pitching the right elbow, but this won't happen if you pitch while the hips are still closed to the target.
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