21:16a When David lifted up his eyes and saw the angel of the LORD standing between heaven and earth,

David saw the angel of Yahweh stan ding between earth and heaven.
-or-
David saw Yahweh’s angel standing in the sky.

21:16b with a drawn sword in his hand stretched out over Jerusalem,

The angel had a sword in his hand that was pointed toward Jerusalem. (Translation for Translators)
-or-
In his hand he held a sword and he was ready to kill the people in Jerusalem.

21:16c David and the elders, clothed in sackcloth, fell facedown.

Then David and the elders bowed with their faces touching the ground. They were wearing the special clothes ⌊made of goat’s hair to show their submission to God⌋ .
-or-
Then David and the leaders of the people bowed low, with their faces touching the ground. They wore uncomfortable clothes made from rough material, ⌊because they were sorry⌋ .

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