Yes, we want hands inside the ball. Yes, we have to address those purists who want to talk about which hand pulls or pushes and in which direction. And yes, the terms like "punch" and "whip" and "arm-barring" can either help or hinder any lesson on arm action.
But first we want to acknowledge a clever teaching technique that might cut through all this discussion...
"Fling a Frisbee with the bottom hand; skip rocks with the top hand."
Consider that. In fact, to figure out what that has to do with hitting, please just stand up and do the motions and you'll get it. Do dry swings (one arm at a time), then work one-hand drills with a short bat. We'll wait...
...and once you've tried it, we'll proceed with the rest of the lesson.
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If you're content with the above approach, DON'T read the next lesson, skip to the discussion of shoulders (once published).