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The process of coupling cysteine to cysteinyl-tRNA, catalyzed by cysteinyl-tRNA synthetase. A cysteinyl-tRNA synthetase is a class-I synthetase. The activated amino acid is transferred to the 2\'-OH group of a cysteine-accetping tRNA. The 2\'-O-aminoacyl-tRNA will ultimately migrate to the 3\' position via transesterification. [GOC:mcc, ISBN:0716730510]
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