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Look it up on exrx.
I don't know the names of the exercises, but I'll try to describe some briefly.
Grab an EZ-bar with minimal weight on it and hold it at shoulder height with your upper arms parallel to the ground. Rotate your upper arms so that the bar comes from even with your neck to above your head. This is external rotation.
Any exercise in which you mimic the motion of arm wrestling is an example of internal rotation.
But exrx will give you a better idea of what to do.
Or you could use the search function.
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