From the Super Mario Wiki
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The Quake Hammer badge is incredibly useful against these enemies. It will flip them over for two turns, dropping their Defense to 0 and making them utterly defenseless. Also, if Mario is wearing the Spike Shield badge, they will not extend their spears to poke him if he readies his hammer. Being stomped with Spike Shield also works, as does the Star Power Earth Tremor. Clock Out is also a useful tool when facing Dark Bristles; when it's used they are unable to attack or extend spikes. If Mario uses Super Hammer/Ultra Hammer outside of battle, their spikes will not extend either.
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