For tremolo picking, the way you hold the pick and the movement that you make differs from normal picking.
When picking normally, the motion is mostly coming from your wrist.
When tremolo picking, bend your thumb a little, and make the motion come more from your arm.
The best way to think about the motion of tremolo picking is this.
Tremolo picking is easiest if you play all of the notes in a phrase on the same string. That way you don't have to lift your right hand up to make the transition to another string. Of course you shouldn't always do what's easiest, but that is a good place to start.
Just repeat the note as fast as you can for the indicated duration. There is not a set number of times that you will pick the note.
Try practicing tremolo picking with the following exercises.
This is a pattern for a G major scale. Learn to play scales on a single strings, not only for use when playing tremolo picking licks, but for improvising in general.
This is a pattern for a G minor pentatonic scale.
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