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Theory Manual Version 3.6
 Subsubsection 7.9.6.2: Prescribed Rotation at Joint Up Section 7.9: Rigid Connectors Subsubsection 7.9.7.1: Spring Between Rigid Bodies 

7.9.7 Other Rigid Connectors

 Subsubsection 7.9.6.2: Prescribed Rotation at Joint Up Section 7.9: Rigid Connectors Subsubsection 7.9.7.1: Spring Between Rigid Bodies 

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