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Quality of Service (QoS) support in mobile ad hoc networks (MANETs) is a challenging problem. The first step in investigating QoS support is to design a feasible service model, which is the system goal. The service model describes a set of end-to-end QoS services and defines the externally visible behavior. Based on the simulations, we conclude that both the network properties and the requirements of the applications should be considered in designing the service model for MANETs and propose a service model called network properties-aware service model (NETPASM) for the small and medium MANET with the changing speed of the network not too high. Three types of QoS services are specified in NETPASM. The first one is the statistical QoS-assured service under which the end-to-end delay bound violation probability and the interrupted times bound violation probability of the data flow during its lifetime are adopted as the QoS attributes. The second one is the adaptive service under which the relative priority to access the resources of MANETs is adopted as the QoS attribute. And the last one is the best-effort service.