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Looks like there is a standard open format for vector animation: SVG.

How to create and edit such files?

I expect something like Blender with keyframes and curve editor. Inkscape does not seem to have animation abilities at the first glance.

FOSS is strongly preferred (so Flash-related things are discouraged, but if there is a Flash to animated SVG converter it should be mentioned).

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up vote 10 down vote accepted

Here there is a list of already existing animation programs (including SVG animation)

There are both FOSS and proprietary ones.

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I think has an online app that can convert raster to SVG then animates it. I think the app can also edit existing animation. Check

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