Muslim outrage over reprinted cartoon
The protesters burned a Swedish flag outside that country's embassy in Kuala Lumpur, chanting "Long live Islam" and "Down with Sweden".
Posters read: "Take some lessons from 9/11!!!" and "We fight for our prophet."
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Hide AdThey also burned a picture of Swedish artist Lars Vilks, who made the drawing in 2007.
"We demand that the Swedish government take strong action against the newspapers and against the artist," said Subki Yusof, of the opposition Pan-Malaysian Islamic Party.
"It's unacceptable what they did to our prophet."
Swedish ambassador Helena Sangeland called for better mutual understanding with Muslims but said no action would be taken against the papers.
"The Swedish government will not comment nor take any action against media. Freedom of expression is enshrined in our constitution. It is not negotiable," she told reporters.
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Hide AdVilks has said he made the caricature to show that artistic freedom allows mockery of all religions.
Several newspapers reprinted the caricature earlier this month when a mumber of Muslims were arrested over an alleged plot to murder the cartoonist.