In After Effects, you click on a property's Stopwatch icon at left of the timeline to create a keyframe at a the cursor location. Once clicked, the parameter remains animatable for the duration of the comp. Any changes made to that property will then be recorded in a new keyframe wherever the timeline is parked. Careful! Clicking the Stopwatch a second time turns off the Stopwatch and erases all previously recorded animation events for that element. If you need to refine a keyframe's value, move the timeline cursor to the exact frame as a keyframe. You can also double click an individual keyframe to modify its value.
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