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General Information:
Moses is still speaking to the people of Israel.
the avenger of blood
Here "blood" represents the person who was killed. An "avenger of blood" is a close relative of the person who was killed. This relative is responsible for punishing the murderer. (See: rc://en/ta/man/translate/figs-metonymy)
the one who took a life
This is an idiom. AT: "the one who killed the other person" (See: rc://en/ta/man/translate/figs-idiom)
in the heat of his anger
Someone being very angry is spoken of as if anger were something that could become hot. AT: "and being very angry" (See: rc://en/ta/man/translate/figs-metaphor)
strike him and kill him
"And the blood avenger strikes and kills the one who had killed the other person"
though that man did not deserve to die, since he had not hated his neighbor in the past
"though that man did not deserve to die since he accidentally killed the other person and was not his enemy, and he had not planned to hurt the man"