There are tons of exercises you can find that will claim to improve the health of your shoulder, along with increasing the overall mobility.
The problem is, most of the recommended exercises actually restrict motion and can further exacerbate problems down the line.
If you are having trouble reaching the arm overhead, then performing exercises such as banded pull apart, or I's, T's, and Y's, will actually hinder the ability to get overhead.
Why can this be?
The scapula sits on top of the ribcage, and must have space between it in order to rotate upwards and create overhead motions.
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