An extensive study of three-nucleon force effects in the entire phase space of the nucleon-deuteron breakup process, for energies from above the deuteron breakup threshold up to 200 MeV, has been performed. $3N$ Faddeev equations have been solved rigorously using the modern high precision nucleon-nucleon potentials AV18, CD Bonn, Nijm I, II, and Nijm 93, and also adding $3N$ forces. We compare predictions for cross sections and various polarization observables when $\mathrm{NN}$ forces are used alone or when the $2\ensuremath{\pi}$-exchange Tucson-Melbourne (TM) three nucleon force (3NF) was combined with each of them. In addition AV18 was combined with the Urbana IX 3NF and CD Bonn with the ${\mathrm{TM}}^{\ensuremath{'}}$ 3NF, which is a modified version of the TM 3NF, more consistent with chiral symmetry. Large but generally model dependent 3NF effects have been found in certain breakup configurations, especially at the higher energies, both for cross sections and spin observables. These results demonstrate the usefulness of the kinematically complete breakup reaction in testing the proper structure of $3N$ forces.
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