Some good points here - but not all of us use those thick, thick rounded picks, and the experience I have with guitar includes acoustic F hole guitars with heavy strings at a pretty high tension, not rock and roll .009's.
As I said, most people think you really have to come to rest full against the next string, but that's not necessarily the case with those downstoke-style picking techniques. It's more about the follow-through of a very small but strong and focused movement that includes the thumb and 1st finger, not just the wrist and arm.
Personally I can't do much of my picking work with anything but a pointed pick shape. The round ones feel like I'm brushing the strings, not really plucking them.
For those that like the big rounded hard picks, that rest-stroke style of picking may not work at all, nor can you really circular pick with a rounded tip.
Anyway, it's almost like there's two camps of picking on mandolin - the old Italian sharp-point picking style, and the more modern style using those rounded thick picks.
Obviously what's "right" is what works best for you.
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