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Arnajevo is located in the northwestern tip of the municipality, east of the village of Stepojevac. It is a small, depopulating rural settlement with a population of 853 according to Census 2002. In 1991, settlement had 1,005 inhabitants.
In 1956-57, Arnajevo was part of the municipality of Beljina, which in 1957 merged into the municipality of Barajevo.
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