N-body simulations show that when infall reorientates the outer parts of a galactic halo by several degrees per Gyr, a self-gravitating disc that is embedded in the halo develops an integral-sign warp that is comparable in amplitude to observed warps. Studies of angular-momentum acquisition suggest that the required rate of halo reorientation is realistic for galaxies like the Milky Way.
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A 1999 study studied this question.
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