Recorded Live at Rohr Chabad NDG in Montreal, Canada.
The Kabbalists associate the three worlds of Beriah, Yetzirah and Assiyah with the three faculties in Man of thought, speech, and action. Just as these three act as garments to the soul, the worlds of Beriah, Yetzirah, and Assiyah likewise act as garments to the Sefirot of Atzilut. Yetzirah is known as the world of speech. The Talmud states that “every word emanating from G‑d creates an angel.” The force that traverses the spiritual domain is what we call an angel, and when we speak of “G‑d’s word,” we are actually referring to His interaction with the lower worlds. We have also described it as a conduit or channel for Divine energy flow. In truth, there are many different types of angels. Some are created on a daily basis, and others are permanent with fixed names, such as Michael and Gabriel.
The Midrash actually states different opinions as to which day during creation the angels were created, with debate as to whether it was the second or the fifth. Since all opinions are held as valid, we must say that they refer to different groups of angels with diverse functions.

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