UK is right, use a lot of arty (Culvs are best) to knock several holes in the walls in different places. I like to try to damage the points where interior walls meet the outer walls, you can kill two birds with one stone so to speak.
Once the walls are down use your remaining shots to destroy the nearest towers. Hold your infantry/cavalry back out of arrow/ballista range until ready to go in, then approach the castle in loose formation, with units side by side rather than in a column to reduce the rolling rock effect.
Try to get enough holes that you can get in and hit the defenders in the rear - this is a good use for cav. Heavy armor is the best to use in the frontal assault.
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