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We present new and fast procedures for calculating magnetic forces between thin coaxial circular coaxial coils in air. The results are expressed in semianalytical form in terms of the complete elliptical integrals of the first and second kind, Heuman's Lambda function, and a term that must be solved numerically. These expressions are accurate and simple to use for several practical applications. We also describe a comparative method based on the filament technique. We discuss the computational cost and the accuracy of two methods and compare them with already published data. Results obtained by our two approaches are in excellent agreement with each other. They can be used in industrial electromagnetic applications such as electrodynamic levitation systems, linear induction launchers, linear actuators, and coil guns.