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Dynamic task scheduling has been intensively studied over the last several years. However, since the emergence of mobile computing, there is a need to study dynamic scheduling in the environment of mobile ad hoc networks, which contain a group of heterogeneous mobile nodes powered by batteries. For such a time-energy efficient system, performance evaluation using only a time metric is not enough. In this paper, we propose a novel energy aware dynamic task allocation (EADTA) algorithm with a goal of time-energy efficiency, to minimize the average per task delay and energy consumption. We evaluate the algorithm under different scenarios and conduct a simulation to analyze its behavior. Results demonstrate that EADTA is superior to traditional algorithms in both the time and energy metrics.