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In this article, we give a trajectorial proof of a kinetic Poincaré inequality which plays an important role in the De Giorgi-Nash-Moser theory for kinetic equations. The present work improves a result due to J. Guerand and C. Mouhot [10] in several directions. We use kinetic trajectories along the vector fields and , and do not rely on higher-order commutators such as or on the fundamental solution. The presented method also applies to more general hypoelliptic equations. We illustrate this by studying a Kolmogorov equation with steps.

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