As a cat starts to fall, its body being upside-down. The head rotates, until it is upright, the front legs are brought up to the face, to protect it from impact, the front part of the body is brought in line with the head. Then the hind legs are bent up ready for all four limbs to touchdown, at the same time the cat twists its rear half to catch up with the front. As it is about to contact the ground, it stretches all four limbs out and arches its back, this reduces the force on impact.

While these actions are taking place, the tail has stiffened and is rotating rapidly, this acts as a counterbalance. Amazingly, all this takes place in a fraction of a second!

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