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Theory Manual Version 3.6
 Subsubsection 7.9.5.2: Prescribed Moment at Joint Up Section 7.9: Rigid Connectors Subsubsection 7.9.6.1: Prescribed Displacement at Joint 

7.9.6 Prescribed Joint Motion

 Subsubsection 7.9.5.2: Prescribed Moment at Joint Up Section 7.9: Rigid Connectors Subsubsection 7.9.6.1: Prescribed Displacement at Joint 

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