We make a perturbative calculation of neutrino scattering and absorption in hot and dense hyperonic neutron-star matter in the presence of a strong magnetic Field. We calculate that the absorption cross-sections in a fully relativistic mean-field theory. We find that there is a remarkable angular dependence, i.e. the neutrino absorption strength is reduced in a direction parallel to the magnetic Field and enhanced in the opposite direction. This asymmetry in the neutrino absorption is estimated to be as much as 2.2 % of the entire neutrino momentum for an interior magnetic Field of 2 x 10^{17} G. The pulsar kick velocities associated with this asymmetry are shown to be comparable to observed velocities.
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