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Better than styrofoam:
Martus and I were joking about the styrofoam counterweights, of course, but there is another light thing you could counterforce with: a vacuum. Put your little cylinder close to the pivot, set the arm to the height you like, then seal the two ports of the cylinder. It will apply significant force trying to return to that original position, so your motors will not have to exert as much force. I have never actually tried this, but it seems like it should work.
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