The pyramid of balance
There are 3 points you must think of when staying balanced yourself or off balancing your opponent. The base of support, hip position, and head position. If one goes, the pyramid collapses.
Anytime you want to off balance, sweep, throw or take down someone, it only becomes possible once one of these gets taken away from the other. That’s why breaking an opponent’s posture or base and maintaining your own is essential.