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function print_menu_shortcode($atts, $content = null) {
    extract(shortcode_atts(array( 'name' => null, ), $atts));
    return wp_nav_menu( array( 'menu' => $name, 'echo' => false ) );
}
add_shortcode('menu', 'print_menu_shortcode');

// use: [menu name="footer-menu"]