uchi mata v harai goshi

People who come from judo or have a fair bit of judo knowledge, is uchi mata (ashi-waza style) more of a chop while harai goshi is more of a sweeping / seesaw motion in an outwards direction. I've been trying to up my judo game for a while but am struggling to really feel the difference in the motion of hip/legs when it comes to the two.

lately i've been rlly enjoying hitting an uchi mata coming up from dog fight with a whizzer but thats pretty much all i can do in terms of judo.