This is the push-pull dance.
Basically, pull when pushed, push when pulled. Hey, this sounds familiar……. ah, yes, its the famous Judo maxim.
However, if you want to borrow the opponent’s movement and strength this is what you would do. This principle is baked into a number of Tai Chi movements so its not just a Judo thing but a universal principle.
So push-pull like a pulley when you do this dance.