Get myself to where I am about to fall

I have realized the spot/cliff where I need to put myself at along with the opponent after tying him up with me. That is the spot/moment where I need to rotate. Another way to say it will be the spot where gravity is matched. That is the spot that I am vulnerable, about to fall, I feel fear, so I don't want to get there, and often stop myself too early before I get there.