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The phrase "arm extending" is correct and usable in written English.
It can be used to describe the action of an arm reaching out or stretching forward, often in a physical or metaphorical context.
Example: "With a gentle smile, she reached out, her arm extending towards the child to offer comfort."
Alternatives: "arm reaching" or "arm stretching".
Exact(20)
I tapped Julie on the arm, extending my glass.
A few years ago, Kirschhoffer mounted a camera on a boom arm extending out of a tundra buggy.
The physical platform is comprised of a webcam (Rocketfish HD) that rests atop an arm extending vertically from a base structure.
On small canals gates may be manually operated by a lever arm extending over the lock side; on large canals hydraulic, mechanical, or electrical power is used.
A chunk of an exploded Ariane 4 rocket chopped through a six-metre arm extending from Cerise, a French military satellite.
One of the main tasks of the right superior parietal lobule is to assemble a coherent body image from touch signals ("I feel my fingers touch the cup"), visual signals ("I see my hand reaching for the cup"), and nerve signals from the muscles, joints, and tendons ("I feel my arm extending toward the cup").
Similar(40)
Her other arm extends, fingers outstretched, behind.
(Body straight, one arm extended).
Its arm extends from the pile.
He stared at me, his arm extended against the door.
He held the jacket at his side, arm extended.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com