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Up on stands, only rear right rotor rotating while in gear 200

It's a bad idea to do what you're doing by having the wheels off the ground and using the engine to spin the driveshaft and differential.....more so with the wheels removed.
It's akin to running a engine with the flywheel removed.

The drive shaft and differential are designed to transmit load (like moving a car) when spinning.
Spinning them without load could cause the driveshaft or differential to fail.
It has something to do with harmonics.

Opinions will vary but...it has happened.

steve






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