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Player A should try to put a bit of a curve on the disc to slow it down when it reaches R, rather than trying to perfectly time their throw
Try to throw slightly infield of the sideline; throwing at the sideline makes it more likely that the disc will be caught out-of-bounds
The faster your receiver cuts, the more likely that momentum takes them out of bounds. Practice toeing the line on the catch and quickly returning to an inbounds position, rather than just running off the pitch
Use this drill to practice:
A handler, A, starts with the disc on the sideline. They are at the front of a stack. A cutter, B, stands at the front of another stack, positioned along the centre of the length of the pitch. The distance between stacks should be 10-20m; the exact distance varies depending on your offensive style and skill level.