General algorithm:
0. Hygiene and maintenance issue first: after the wand tip exits any body of liquid, purge the wand with copious amounts of steam and wipe its outsides clean. Or you get milk in the boiler ...
1. Before starting the steam wand, position the wand in the spout of the pitcher, tip above liquid. Holding the pitcher handle, pull against the wand, and notice that you have fewer degrees of freedom to move. Play with this for a few seconds. Proceed when bored. Keep the wand in the spout until the end.
2. Raise the pitcher until the tip is 2cm beneath the liquid's surface. Turn on the steam. If your position is correct, the liquid should spin immediately without having to adjust the position of the pitcher. You can practice this with water. Proceed when after you never fail to start in the right position.
3. After the liquid is spinning, slowly lower the pitcher until the tip of the wand approaches the liquid's surface (without exiting), and you hear a sound like paper tearing. Stop dropping the pitcher (neither raise nor lower it at this point).This is the sound of air being sucked into the liquid. As the sound progresses, you should see the liquid level rising, as the volume of foam increases. Once you have 1cm height increase, raise the pitcher again so that the tip is submerged and no more air is injected. Continue spinning the liquid until just before it is too hot to touch the side of the pitcher. (One hand firmly on handle, one hand touching the side of the pitcher ... the same hand that you need to move to turn off the steam.)
Try?
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