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@BringMeMyFix
Rocking or not is a question of how you time the (whole body) pedalstroke, and how knackered certain muscle groups are. If you're feeling strong, and cycling with absolute efficiency, the rocking will be less. Examples might be the initial burst of attack from someone like Pantani, or the first 250m of a kilo by a great technician. Shoulders, hips, knees, and ankles in perfect alignment as the foot pushes through the power section of the stroke around 2 to 3 o' clock.
But as muscle groups fatigue, sometimes you have to throw yourself or the bike around a little more to eke out some power. Road sprinters like Cavendish are massively pre-fatigued as they approach the final 500m, so it's no surprise their style can be a little untidy, although Cavendish is nowhere near as ragged as Abdoujaporov :D