Squirrels have fuzzy tails.

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total_torque about joint 0 = static and dynamic torque from link 1 + static and dynamic torque from joint 1 + static and dynamic torque from link 2 + static and dynamic torque from joint 2 + . . .so basically you use the mr^2 * alpha equation for each point mass individually, then at the end you sum them all up . . .In my robot arm tutorial, you will see how I divided up each part of the arm for calculation.