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It is just over 10 cm long and is likely to have been made by a dinosaur that stood about 75 cm tall and 2.5 m long, the museum added.
National Museum Wales palaeontology curator Cindy Howells described it as “the best specimen ever found on this beach”.
The dinosaur which left it was described as “a slender animal” which would have walked on its two hind feet and actively hunted other small animals and insects.