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To connect to the shell run:
nc server.example.org 2000
Redirect the local port 2000 to the remote port 3000. The same but UDP:
nc -u -l -p 2000 -c "nc -u example.org 3000"
It may be used to "convert" TCP client to UDP server (or viceversa):
nc -l -p 2000 -c "nc -u example.org 3000"