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For an in depth look of joint testing check out (starting at page 8 is most helpful): https://ntrs.nasa.gov/api/citations/20150003409/downloads/20150003409.pdf
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For an in depth look of joint testing check out (starting at page 8 is most helpful): https://ntrs.nasa.gov/api/citations/20150003409/downloads/20150003409.pdf
...