The symbol Magen David is kabalistic depicting the seven sefiros where Malchus or David is in the middle. and the others are on the six edges. It was used in 1354 where Karl IV commanded the Jews of Prage to have a red flag with a magen david on it. The Igros Moshe (O’CH 3,15) questions whether you should remove it from the curtain on the aron hakadesh that was placed there some time ago? He rules we don’t have to as there is no basis for it, but there is a benefit to show Hashem rules over the whole universe in all six directions. The Otzar Yisroel says that the symbol can be found in the Sefer Raziel Hamalach. There is a small book called the Cosmic Bagel by Yitzchak Shimon Hurwitz describes the kabalistic aspect of it in great detail.
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