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For pt. I see ibid. p.2600-3. This paper describes studies done at HP Labs on the actuator pivot bearing nonlinearity of a small disk drive. It presents several models and discusses a time-domain approach, comparing simulated and lab measured torque versus displacement hysteresis curves. Using the measured and simulated time and frequency responses as a guide, the designer can iteratively improve the model of the system and verify the correctness of the measurements.