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A testing procedure has been developed for measuring rotation/moment impedance functions. At connection points between components, both rotations and moments have important contributions in describing the dynamic characteristics of a coupled system. Analytically, both rotations and moments are included at connection points and are necessary for achieving a high fidelity model of a system. Experimentally, these effects have been historically neglected since no acceptable rotational transducers exist. If high fidelity impedance models are to be developed from experimental data, it is important to measure rotational impedance functions. In this paper a testing method is developed which uses the motion of a rigid body attached at a point of interest to determine displacements, forces, rotations and moments at the point of interest.