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  _____     _____   __    __    ______    _____   
 / ____||  |  ___|| \ \\ / //  /_   _//  /  ___|| 
/ //---`'  | ||__    \ \/ //    -| ||-  | // __   
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 \_____||  |_____||    \//     /_____//  \____//  
  `----`   `-----`      `      `-----`    `---`

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Text this: Modeling of a rigid-flexible manipulator using Hamilton’s principle