To become adept at anything takes practice. Once we decide on what it is that we want then the two limiting factors are how much effort we are willing to put into obtaining that thing and what we are willing to sacrifice to obtain that thing. How do you put in more effort? The obvious answer would go to class more, but the less obvious and probably more pivotal answer is how much time you put into acquiring that skill outside of class. The formula is simple: more effort outside of class + class time = success.
For instance if you wanted to get good with the sword or bokken then you should put more time into doing suburi (cutting practice). One of the things Sensei would constantly advocate to us was, "Handle your weapons everyday." Holding them, doing suburi or even carrying them around allows us to keep or gain a certain level of familiarity with that weapon. Becoming adept with the sword means knowing not only what it can do but also what it feels like, how its balanced and what it is capable of doing.
Once you put the time into become adept at something you will be able to do things that seem utterly impossible. But you can only do that when you put the work in.
Below I have linked a video of a young man swinging a baseball bat and he has become so adept at using it that he can do some amazing things. I am sure this took a lot of practice. Enjoy!
https://www.youtube.com/watch?v=4JF-VZE2moc