This is a character I drew in my Animation class. This page shows the progress from blue pencil, to ink, to color (with a couple alterations along the way to make the final animated rotation smoother.)
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I used Jasc Animation Shop 3, to make the animated gif. I tested it w/ the blue lines to see if it went smoothly first, then made some edits before I inked. And had to tweek it a bit more afterwards.