The best description of what I am talking about is on the Feel Tennis web site. He has a drill that shows how to groove in the proper racquet drop. It will get it so you automatically supinate the shoulder and all that other stuff people obsess about on here. The difference is that you won't be thinking about all that stuff, you will just be hitting serves with a loose arm and a proper racquet drop.
Please help TT Member BruceD get a wheelchair so he can play tennis again - http://tt.tennis-warehouse.com/showthread.php?t=496820