Uchi Makikomi involves twisting your body in a circular motion and wrapping the arm while falling.
Judo is made up of throwing (nage), grappling (katame or ‘newaza’) and striking (atemi) techniques.
The throwing techniques are split into standing techniques (tachi-waza) and sacrifice [falling] techniques (sutemi-waza). In turn, the standing techniques are split into hand techniques (te-waza), hip techniques (koshi-waza) and foot techniques (ashi-waza).
See a full demonstration of different nage-waza (throwing techniques) at: https://www.youtube.com/watch?v=niPb0NBqBWA
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