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MB3 98a: What Can You Get Ready Shabbos Afternoon for Right After Shabbos (306:2-4)
If your animal is outside the techum you can call to it to come back into the techum. Travelling to the edge of the techum on Shabbos afternoon for a mitzvah purpose. What else can you do before Shabbos is over for the purpose of a mitzvah? Getting paid for work done on Shabbos.