That's correct! When you pull or push with your muscles, they are typically performing one of two actions:
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Contracting: This is when the muscle fibers shorten, generating force. For example, when you curl a weight, the bicep muscle contracts and gets shorter.
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Relaxing: This occurs when the muscle fibers lengthen or return to their resting state after contraction. An example would be when you lower the weight back down, allowing the bicep to relax.
So, no matter the action, muscles are either contracting (getting shorter) or relaxing (getting longer).