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We derive a closed-form expression for the mutual impedance due to eddy-current induction for a pair of cylindrical air-core coils with arbitrary position and orientation above a planar conductor. By extending a recently devised model for individual coils with an arbitrary tilt with respect to the surface, we obtain a remarkably simple result. We validated our model with measurements on a conductive plate. The results should be useful for designing new probe configurations and for evaluating the signals in eddy-current inspections when driver-pickup coil configurations are utilized.