Aikido is known for its graceful techniques: swift apparently effortless movements that fling an attacker through the air, or immobilize and control by means of subtle pressures to the joints. These effects are the result of precise timing, leverage and the proper use of centrifugal and centripetal forces. Aikido has been described as 'moving Zen'. As in all Zen arts, its final aim is personal transformation, and the focus of the training hall is practical. Repetition and hard work are required to master the fundamentals of movement, timing and breathing. 'This is not mere theory', O-Sensei said, 'you must practice it more... See more text