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Off pitch means you're not singing the correct note. For example, you might be singing a few cents below middle C when you were trying to sing at middle C. Or perhaps if you were trying to sing at 440Hz and you sang it at 430Hz instead, etc. Reaching is when there's a note that is really high in pitch such that it is almost out of your vocal range or really long (the drawn out notes) and you cannot sing it well enough and thus end up singing too loudly and also ending up not singing on pitch. An example would be perhaps a note like a C4 lasting a measure when your comfortable vocal range is from G2 to B3.
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