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Here are 2 updated tutorials that will make it easier to understand. I made these because i will use them for reference when the time comes to do it again and to share some very nice tools that makes complex animation spot on.

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Wow, I always dreaded animating torque-link-style because I could never figure out how to do it without creating a dependency loop...compression struts usually aren't too much trouble but those pesky torque links always gave me a headache. So what I usually did was just manually rotate them every 5 or 10 degrees. This looks quicker and a lot more effective, thanks for sharing!