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Ankylosaurs, Stegosaurs, and other fun things..

Greetings all,
What is the precise relationship between Stegosaurs and Ankylosaurs? Is it an ancestor/decendant one? Or are they both derived from a common ancestor? it's something I've been wondering about lately.

Besides, all this dino-bird talk gets tiresome after a while. This is the Dinosaur Mailing List, not the Dinosaur/Bird only list.

Thanks in advance to whoever responds.