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Soreness is a major factor at first, but quickly your body learns what to do with the acid that is causing the soreness. Regular exercise will not produce the same soreness after a week or so.
With Cardio, you don't want to be sore afterwards. The first couple of weeks that would be normal, but if it keeps up, you should talk to a doctor.
With weight training, the burning sensation is a good sign that you are working hard, but if you stretch before and afterwards, you shouldn't be sore. You should be tired, but not sore (as you add new exercises expect some soreness for a couple of days).
If you aren't feeling the burn, you should evaluate your weight training. I'm not a trainer, but i've spent a lot of money on them in the past. You want to keep pushing your body, but you don't want to over do it. And you don't want to under do it either. IF you aren't constantly adjusting the amount of weight you do for each exercise, you won't see any physical gain, and you won't burn any more calories.
I was told that as your muscles get bigger, they burn more calories daily and while you are doing the weights, so it's a win win situation to increase your muscle mass!
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