Picking A Standard Yale Lock
First, let's understand how a lock works. I'll only be discussing about the common pin-tumbler lock (generally called a Yale lock, after its inventor in 1860). This is the kind you possibly have on your entrance, with a key having a series of mountains and valleys of various heights. While your key may slide into other locks, the height of those bumps determines whether or not it will rotate.
Brass pins keep the lock cylinder from turning and un-latching the door. Each pin is in two parts, and has to be set precisely for the cut in the pin to match the edge of the turning cylinder. If even one of those pins (most locks feature five) is too high or too low the pin would bind and prevent turning.
The right key matches the cuts in the pins to make everything in alignment. If you've ever seen an old lock, or a poorly cut key, you may have had to jiggle the key to make the lock to work. That's basically very similar to the process of picking a Yale lock.
Basically, finding out how to pick a Yale lock you at random move the pins up and down until you get them to the proper height. However, if they move freely up and down it seems doubtful that you'll quickly find them all aligned at once. Even if you did, you would not know if you didn't turn the lock then. So, the initial step of picking a lock is to apply some torque.
You turn the cylinder of the lock, winding it with a small screwdriver, so that the pins are squeezed against the chamber walls. Then, with friction the pins will not move freely up and down, but they can be moved by tapping slightly with your lock pick. (an advanced lock pick has a small steel spring attached to help you 'twang' it and create a subtle tapping motion).
The torque will need to keep that in place when you move to the second pin, and so on.
For most modern day Houdini picking a standard Yale lock is not too big a problem, which is why many houses and companies employ more advanced locks (for instance Medeco brand). These need precise pin rotation combined with height.
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