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HTTP 503 Servlet action unavailable

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I migrated from Tomcat 3.2 to 4.1 and now I get this message whenever a struts action is being invoked. I looked at the Tomcat log and this is the stack trace:

javax.servlet.ServletException: Wrapper cannot find servlet class org.apache.struts.action.ActionServlet or a class it depends on
at org.apache.catalina.core.StandardWrapper.loadServlet(StandardWrapper.java:891)
at org.apache.catalina.core.StandardWrapper.load(StandardWrapper.java:823)
----- Root Cause -----
java.lang.ClassNotFoundException: org.apache.struts.action.ActionServlet
at org.apache.catalina.loader.WebappClassLoader.loadClass(WebappClassLoader.java:1443)

Now, I've tried copying struts.jar into \tomcat\common\lib to no avail. The system classpath already points to struts.jar but I know Tomcat ignores that. If I modify setclasspath.bat to include %CLASSPATH% Tomcat does not start. So my question is this.. how can I define my own classpath for use with Tomcat?
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Have you included struts.jar and all the required commons jars in the WEB-INF/lib directory of your WAR file? It should be included here, rather than in any common classpath.
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