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How To Pick A Yale Lock
First, let's know how a lock works. I'll only be talking about the common pin-tumbler lock (generally known as a Yale lock, after its inventor in 1860). This is the sort you mostly have on your entrance door, with a key having a series of mountains and valleys of different heights. While your key may slide into other locks, the height of those bumps causes whether or not it will turn.
Brass pins keep the lock cylinder from rolling and un-latching the door. Each pin is in two parts, and it should be aligned precisely for the cut in the pin to align with the edge of the turning cylinder. If even one of those pins (most of the locks have five) is too high or too low the pin would bind and stop turning.
The proper key aligns with the cuts in the pins to fix everything in alignment. If you've ever dealt with an old lock, or a poorly cut key, you might have to jiggle the key to get the lock to work. That's basically similar to the process of picking a Yale lock.
Essentially, understanding how to pick a Yale lock you arbitrarily move the pins up and down until you get them to the right height. However, if they move easily up and down it seems unlikely that you'll quickly find them all aligned at once. Even when you did, you would never know if you didn't turn the lock at that time. So, the first step of picking a lock is to apply some torque.
You turn the cylinder of the lock, twisting it with a small screwdriver, so that the pins are gripped against the chamber walls. Now, with friction the pins will not move freely up and down, however they can be moved by tapping gently with your lock pick. (an advanced lock pick would have a small steel spring attached so you can 'twang' it and create a subtle tapping movement).
The torque should keep that in position as you shift to the second pin, and so on.
For modern day Houdini picking a standard Yale lock is not too big a challenge, which is why a lot of apartment buildings and companies utilize more complex locks (like Medeco brand). These involve precise pin rotation in addition to height.
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