Instead of just writing equations out of nowhere, I prefer to motivate the concept with an application that tend to arise in day to day life, or with an application to the students interest. For example, when trying to discuss topics of torque, I would form a practice problem of a cyclist and the pedal dynamics. Using this example, I would slowly derive torque and angular momentum. Finally, I don't think just lecturing is helpful so forming lots of practice connecting previous taught ideas to other fields of science even is my main methodology.
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