The word you are thinking of it 'jete' (pronounced JET-AY) there are all sorts of different kinds of jetes, including grand jete, which means to leap high and swiftly into the air and petit jete, which is a small split leap which is supposed to be adagio (soft and graceful)
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Lyrical is more of a fast paced, more leaps, and has lyrics to the song. Classical ballet has more of a story behind it. it has more gracefulness.
There are many different types of leaps in ballet but the main two are called grand jete (pronounced ju-tay) and sout de chat (so-day-shaw). The only differences between these two leaps is that sout de chat goes through developpe and grand jete does not.
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There aren't any that would be considered suitable in terms of functionality, so it is best to stick to the ballet shoe. Socks for instance, can be slippery - they don't provide enough grip to be able to execute turns and leaps safely in ballet. In other dance forms, it may be acceptable to wear 'foot thongs' (a type of sole protection).
I'm not quite sure what you mean by steps, but leaps are when you do some form of traveling step ( I prefer a tombe, pa de burre, glisad then leap) and then you go into a leap or jete. You raise your front leg, push into the air with your back, try to do a split in the air, and land on your front leg.