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Penalty is debatable, and probably has more to do with what you consider a penalty or not than how Google reacts. But you should see the sticky thread about Google's official word on the matter.
If you can't redirect between your domains because of customers, use robots.txt to ban all spiders from one domain or the other, so they won't see it, and will only know of one copy.
Make sure robots.txt is formatted for Unix, not Windows or Mac.
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