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    </subsection> <!-- end of undamped pend -->

    <subsection><h1>The undamped pendulum with a constant
    torque</h1>

      <p> Now what happens if we add a constant torque?  If you visualize the
      bifurcation diagram, you'll see that the fixed points come together,
      towards $q = \frac{\pi}{2}, \frac{5\pi}{2}, ...$, until they disappear.
      One fixed-point is unstable, and one is stable.</p>

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