If you have your system booting with freedos (whether from floppy or usb stick, doesn't matter) you can use the sys command to transfer the freedos os to the hd, then you should be able to reboot into the hd after removing the usb stick. If you have a working boot of freedos, all you need to do is type sys d: at your c prompt, and the system will be transferred to the d: drive. Remove your usb stick, and then your hd *should* boot. (of course, should is the keyword here) Plenty could go wrong, but assuming all is in order, this will work and you should be on your way.
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