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Say you have a witch with a flying broom, can she:
A.)
- mount her broom as a move action.
- command it to fly upwards 30ft as a free action.
- the broom flies up 30ft on her turn as a result of the command.
- cast a spell as a standard when the broom is off the ground.
B.)
- free action command the broom to fly to a certain location
- Broom flies to that location
- Cast a spell in the middle of that movement
- Cackle as a move action
This all assumes an intelligent broom of flying, thus this is not a command word to summon it to you, but rather communicating with it.