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This is a typical example of how to clear the close-arm frame on the hip from Side Control, and transition into Upper Body Control while trapping the arm in order to punch. This is also called Kesa Getame position. Make sure to keep your head down to avoid the opponent framing you, and have a good split base to stabilize your position.

From that position, when the opponent will use his arm to block the punching, you transition into a pin with a staple using your close leg and posture a little bit to keep the punching going.

Source: MMA Seminar in Brussels, Belgium. May 2019.