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In page The Simpsons 138th Episode Spectacular:

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A deleted scene from the season five episode "Burns' Heir" is also shown, in which a robotic Richard Simmons dances outside Burns's mansion to the 1976 song "(Shake, Shake, Shake) Shake Your Booty". It was cut from "Burns' Heir" because the writers did not think it was funny, nor did it do well with a test audience, although Oakley thought the animation was terrific. To the production staff's surprise, the scene would make the audience "erupt with laughter" when screened at animation conventions and college presentations, so they decided to insert it in this episode.[5]