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If you want a more practical and more offense-oriented art that incorporates the principals of aikido you are talking about, you should try Hapkido. It combines the kicking/punching of a traditional striking style like taekwondo, the joint locks/throws/circular motion of aikido, and the hip throws of judo. It is often weak on the grappling side of things though.
No matter what, you are looking at a good 3 years before any art really begins to become ingrained and useful for you, and easily 5 to 10 before it becomes sort of natural and effective.
You might want to learn escrima and then just carry a billy club or some small staffs around with you all the time.
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