How to ‘loosen’ up on the ice?

I’m still a beginner skater and I noticed a pattern in my skating. On days I feel relaxed/loose, I skate very well and improve – I’m able to do backward cross overs well and the waltz jump. When I’m not relaxed/loose, I look like a stiff penguin and center myself inappropriately on the blade. Before every skate session, I warm up by skating a few laps, forward/backward swizzles, and edge control exercises.What do you do to relax/feel loose/warm up? I know plenty of people jump rope, but I can’t due to my knees.