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Now that I have (almost) reached the withdrawal age, I understand that I may take from my IRA without penalty.

One Foolish article indicated that from 59 1/2 to 70 1/2, you can just withdraw as desired. Is it that simple?

Are there rules or set amounts that can be withdrawn?
Do I need a documented plan?
What about the IRS (other than paying taxes on the $$$)?
What about declaring beneficiaries - When I use the IRA do the rules change?

Can anyone point me to the answers to these questions - and other considerations I should evaluate?

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