The following is a video I just found off youtube. Aside from the irritating music (mute your volume), the side kick (in the later half of the video), is a good example of a conservative kick that preserves COG in order to allow practitioner to return fire with hand strikes. Notice the stylistic nuances - they are not entirely necessary to perform the side kick, but don't overly detract from it if you know how to land strikes on the opponent. This is a kick that will help reduce joint and hip injuries.
Won-hyo Side Kick
Martial Arts Sources: Bruce Lee