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The court entered a plea of not guilty on Mr Mladic's behalf, after Mr Mladic refused to do so.
Mr Mladic is charged with crimes including genocide in connection with the 1992-95 Bosnian war.
He attempted to speak several times at the beginning of the hearing, but Judge Alfons Orie asked him to remain silent until he was allowed to speak.
He was reprimanded by the judge for speaking out of turn and communicating with the public gallery.
Mr Mladic then refused to enter a plea after his request to change his lawyer to one of his choosing rather than a court-appointed one was denied, because he had not made his request in time, the judge said.
When Judge Orie began to read out the charges, Mr Mladic shouted: "No, no, I'm not going to listen to this without my lawyer," removing his translation headphones.
"Who are you? You're not allowing me to breathe," Mr Mladic snapped. Shortly before guards escorted Mr Mladic from court, he shouted at Judge Orie: "You want to impose my defence. What kind of a court are you?"
After he was removed, the judge read out all 11 charges, including murder and genocide, and entered pleas of not guilty on Mr Mladic's behalf.
Srebrenica massacre It was Gen Mladic's second appearance before the court, after a hearing on 3 June when he declined to plead on what he called 11 "obnoxious" charges.
His Belgrade lawyer, Milos Saljic, had said the former general would boycott the hearing as his defence team has not been approved. Mr Mladic was represented in court by court-appointed lawyer Aleksandar Aleksic.
Gen Mladic was extradited to the Netherlands from Serbia at the of May after being captured following 15 years as a fugitive.
He is charged in connection with the massacre of about 7,500 people in Srebrenica - Europe's worst atrocity since World War II.
Gen Mladic is also charged over the 44-month siege of the Bosnian capital Sarajevo from May 1992 in which 10,000 people died.
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