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It is possible that dinosaurs had a penis of similar construction to
extant primitive birds like the ostrich. In dinosaurs size might have
been important in avoiding damage to the female. Obviously this was not
always successful. I have not looked at ostriches penes closely,
perhaps someone can tell us if they were able to do the 'helicopter
twist', or whether they are of similar construction to mammal penes.
I find this discussion quite stimulating.
University of Glasgow