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When I was young, one of our cats fell from the 7th floor and came back home all the way up the stairs just fine.
Cats need a few seconds of free falling to adjust their body position - they do it with the tail. They straighten it horizontally and start to make round movements in the direction opposite of the one their body is in; e.g. - if the cat is falling down on it's left side, the tail makes circles to the right - that way they can always fall on their paws. Also, half a second before the impact, the retract their legs and then push hard when they hit the ground. That way they can save their vital organs from the energy of the impact.
Cats are well-equipped for survival in almost any situation.
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