Continue using regular pistols to attack either centaur. It doesn't matter which one you choose, but try to concentrate your fire on one enemy at a time. Stay close to the fallen shield as you shoot but move in a small circle or from side to side to avoid incoming fireballs. When the centaur you're attacking becomes enraged and starts to stare green rays at Lara, run to the shield and pick it up by pressing Interact. If necessary, press Left/Right to pivot on the spot and face the centaur. (Lara can't run with the shield, only pivot.)
When you hold up the shield, the petrification ray will be reflected back at the centaur, temporarily turning it to stone.
You only have a few seconds to act, so if you have ammo available, immediately switch to more powerful weapons (preferably 50 caliber pistols but the shotgun will also work if you can get close enough), drop the shield (Interact) and run toward the petrified centaur shooting. Only when it is petrified can you do significant damage. So shoot as much as you can before it revives. Then switch back to regular pistols and start the process again. (In these screenshots, I've already damaged the centaur with other successful attacks, so its health bar is low.)
When the centaur's health bar is depleted, petrify it once more, start shooting and it will shatter into tiny pieces.
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