From the CHAMBERS' north entrance/exit, follow the street to the west. Go around the corner...
...to trigger the Minotaur. Now, instead of luring the Minotaur into the CHAMBERS, just run straight toward it and jump up onto the ledge with the wheel.
While the Minotaur pounds the ground with his hammer, crank the wheel 4 times to open the wooden door ahead on the right. Lara will take damage from the shockwaves, but if you work quickly, and haven't lost too much health already, you may not even need to use a medipack.
Once you've cranked the wheel 4 times, jump over it...
...and climb into the doorway. The Minotaur can't reach you here, and the door soon closes behind you.
Now climb the ladder and continue to the exit.
If the tremors from the hammer keep knocking Lara off the ladder, try grabbing the ladder on either side, so only Lara's hands catch hold and her feet dangle free. You should then be able to climb to the top with no problem.
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