Jaggu
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That could be one contributing factor to attacking and killing a leader like Afzal Khan or atleast. The way wars were fought during those times, even if an army was bigger stronger and winning the war, but if the leader was killed, that bigger, stronger army would feel so demoralized that they would flea in panic. This has happened in many battles and wars in history where the winning side loses because it's leader unexpectedly dies. Such was the case during the 2nd battle of Panipat where Hemu was winning against the Mughals. But because Hemu's eye was struck with an arrow he fell unconscious and his army panicked and ran away in confusion.Both,he knew afzal would try to kill him but also that if he killed afzal it would demoralize enemy army who could then be pounced upon by waiting maratha soldiers.Both self defense and potential gain.
Shivaji was very daring. He was a small man but he didn't let that hold him back. He brought the war directly to the leaders with his surgical strikes with his hand picked men(who were like commandos of the modern era). He was a very practical person and knew how to win battles.