Well, the book I read didn't explain it. But I imagine Feynman did something like this:
1. Take a glass of water.
2. Put a quarter in it.
3. Put a saucer on top of the glass to cover the opening.
4. Turn the cup upside down with the saucer still covering the opening.
5. Quickly remove the saucer from underneath the cup and press the cup to the table.
You'll spill some water, but not enough to really make a mess.
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