Therefore we can deduce from the malach’s question to Bilam – “Why have you hit your donkey three times?” – that when one is not acting in accordance with Hashem’s ratzon, he will have no authority over animals and thus will not be allowed to inflict tza’ar on them.
The Ohr Sameach (Hilchos Shabbos 25:26) explains the Yerushalmi that riding on an animal on Shabbos is a violation of tza’ar ba’alei chaim. This is because once this is not permitted it now also becomes prohibited to ride on the animal as a result of tza’ar ba’alei chaim.Rabbi Raphael Fuchs
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