That's why, when you get to the last sword (after the ogres) take 2 guardians to kill Crota.
The main guy hits Crota, he engrages, if he's killed the 2nd guy (who's hiding on the platforms where swordbearer jumps from) then jumps up while the remaining guardians down dickface for the last time. Boom, boom. Done.
It works every time with this strategy.
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But it won't help if the sword isn't grabbed straight away and expires before the final hit which is what happened in this vid.
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That's purely on the guys that need to take Crota down then. If you can consistently down sword bearer and Crota this raid is simple.