After you have provoked and avoided the petrification attack, keep shooting at the centaur until it becomes enraged once more. (Notice how the rage meter—the lower of the two bars at the top right corner of the screenshot above—is at maximum and begins to flash red.)
At this point the centaur will pause where it's standing, rear up on its hind legs, as shown in the detail from a larger screenshot above.
After it rears up, it will charge at Lara. Now you must use the adrenaline dodge. As the centaur charges, keep a target lock on it. This is automatic if you are using Advanced Toggle combat mode; otherwise, press the right mouse button (PC) or L1 (PS2). Then, as the centaur charges, roll to one side by holding either direction key (or pressing sideways on the left stick) and then pressing Duck. If the dodge is successful, you'll see two gray targeting reticules converge on the centaur (as shown above). When the reticules turn red and overlap, fire.
The centaur will be momentarily stunned and it will slump over, revealing the back of its shield. Quickly holster your weapons and press Grapple then Interact to grab the ring on the back of the shield and pull. The shield will fall to the ground.
If you use Advanced Toggle combat mode, all you need to do is face the ring on the shield and press Grapple and Lara will put her guns away automatically before grappling. With Advanced Hold, release the Target Lock button to holster weapons, then grapple. With Manual mode, press Target Lock briefly to holster weapons then grapple.
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