Simple tips to avoid being disqualified.

Always extend your elbows and wrists if you are trying to use an arm to keep you off the ground. Even on hold your arms will bend unless you apply force to keep them straight.

Ungrip your opponent. This should be obvious, but I've seen people fail to do this.

Extend ankles, contract knees. When falling backwards.

Contract ankles, extend knees. When falling forwards. Do not forget to move those ankles, it is possible for a foot to go through the floor and you will lose.