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i think you are looking for a tool like avimerge.
I did the hard way,
mencoder infile1.avi infile2.avi -o outfile.avi -ovc copt -oac copy
but as you say avimerge (hides in transcode-utils) would have done it too.
johnh@tux: ~/Documents/doc/vicejohnh@tux:~/Documents/doc/vice$ avimerge
avimerge (transcode v1.1.4) (C) 2001-2004 Thomas Oestreich, T. Bitterberg 2004-2009 Transcode Team
Usage: avimerge [options]
-o file output file name
-i file1 [file2 [...]] input file(s)
-p file multiplex additional audio track from file
-a num select audio track number from input file 
-A num select audio track number in output file [next]
-b n handle vbr audio [autodetect]
-c drop video frames in case audio is missing [off]
-f FILE read AVI comments from FILE [off]
-x FILE read AVI index from FILE [off] (see aviindex(1))