Nothing feels better than a good warm up in as little time as possible. One of my favorite go to pieces of equipment is the PVC Pipe. When you hold it your hands together , you can create force in different positions as well as keep an equal feedback between the hands and the muscles being stretched. Best part is they can usually be found for less than $5 at your local hardware store.
Tips for using your PVC pipe:
Go slow, take your time
Always push the pipe away from your body through movements. This will help the joints move through their full range of motion
Try and use good form
Hold each stretch 2-3 seconds and perform 4-5x per movement (or limb)
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