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No form needs to be mailed to the IRS, but:
If you took an RMD in 2016, that would be reported on a 1099-R which should be entered into TurboTax here:
Federal Taxes > Income & Expenses
Scroll down to Retirement Plans and Social Security and click Show More (if necessary)
Click Start next to IRA, 401(k), Pension Plan Withdrawals (1099-R)
Answer Yes to the RMD question
Your RMD will then be reported to the IRS.
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