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Real full-contact competition versus real full contact street fighting are two different entitys.
If you're talking about using weapons like knifes and guns on the street, then yes, full-contact competition is different from street fighting. However, if you're just referring to just bare hand fighting with no rules of street fights, then they're not different at all. Remember, there were no rules in the early UFC days. The same is true for Vale Tudo fights in Brazil. There is basically no rules, so it is street fighting, except you don't kill your opponent.
The samurai era Aikido was meant to maim and cripple your opponent, techniques like trapping an arm and driving a knee into the back of the elbow, hence completely breaking the arm.
I don't know about the Samurai era Aikido - does anyone really know for sure, or are they just going by stories?
At any rate, modern day Aikido is also meant to maim and cripple the opponent. The concept and theories are there. The problem is, they're just concept and theories. It's easier to say that they can break someone's arms and legs using so and so techniques than to actually do them in a real situation.
They say the same thing in Ninjitsu (LOL!) and Krav Maga - maim and cripple the opponent. They say the same thing in Karate - they want to focus one punch to knockout the opponent.
On the street id use these techniques way before id use modern bjj arm bars, etc..
This is what a real street fighting would look like (without weapons):
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The fancy Aikido stuffs would never work. Fundamental striking, wrestling, and BJJ will.
In sport however, yes you are correct in that the Aikido we see today would be ineffective in an MMA fight, which is why modern bjj would be much more effective.
There is a time and place where any martial arts technique can be effective, it just depends on the situation imo.
I'm just going by what can be proven, and to me, if a martial art does not work in a 1 vs 1 fight with no rules (early UFC / Vale Tudo), then it will not work in a bare hand street fight, because they're basically the same thing.