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Most historic facts are wrong again.
Golden Hurde was far from being weak at the time Lithuania was expanding 1250-1350 . Many Ruthenian principalities were welcoming Lithuanian Dukes fearing to fall under Tatars rule. Lithuanian were pagan, but they were familiar neighbours for many eastern Slavs. Moreover, Ruthenian principalities were not as weak as you may think. It just the Hurde was strong and most states were falling under the rule of Hurde and Mongols at the time. There was a defeat at Voskla from the Tatars, but Lithuania continue ruling much of the territories in what is present day Ukraine. In the Orsha battle Polish troops were used as a back-up who were standing behind the Berezina river mostly. Moscow principality became strong in mid 16th century capturing Novgorod republic and many principalities around Moscow making advances into eastern territories of Lithuania. That was the reason for Lublin's negotiations in 1569. Poland's interest in this union was to get some land in what is present day Ukraine. Polish-Lithuania Commonwealth stopped Moscow expansion temporarily loosing some territories in left bank of Dnieper, but eventually Russia took everything including Poland in 1795.
Lithuanians did not need Polish help to defend themselves against Teutonic Order. Kestustis was successfully negotiating with Teutonic order. Jogailo wanted wealth and King's title offered by the Poles, while Poland wanted his powerful army on Poland's side against Teutonic order. Both cousins Jogailo and Vytautas led Polish and Lithuanian (and Ruthenian) forces against Teutonic Order at Grunwald. So open a book and read about reasons for offering Jagailo King's title. Also, Samogitians and other Baltic tribes that settled on territories of present day Latvia did not face the fate of the Prussians despite being ruled by the Order. Baltic speaking Lithuanians were never under Teutonic rule. They had quite a powerful army controlling vast territories fighting Tatars, Muscovites, Poles and Teutonic order on some occasions.
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