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> No, you don't need to melt the metal to mix; it's just almost always easier to do it that way.

Except for welding aluminum, where friction stir welding does exactly that to solid metal.



The point of the friction is to generate heat.


Yes, but not to the point of melting in this case.

https://en.wikipedia.org/wiki/Friction_stir_welding

> Friction stir welding (FSW) is a solid-state joining process that uses a non-consumable tool to join two facing workpieces without melting the workpiece material.[1][2] Heat is generated by friction between the rotating tool and the workpiece material, which leads to a softened region near the FSW tool. While the tool is traversed along the joint line, it mechanically intermixes the two pieces of metal, and forges the hot and softened metal by the mechanical pressure, which is applied by the tool, much like joining clay, or dough.




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