Measurements of the differential branching fraction and angular moments of the decay $B^0 to K^+ pi^- mu^+ mu^-$ in the $K^+pi^-$ invariant mass range $1330<m(K^+ pi^-)<1530~MeV/c^2$ are presented. Proton-proton collision data are used, corresponding to an integrated luminosity of 3 $fb^{-1}$ collected by the LHCb experiment. Differential branching fraction measurements are reported in five bins of the invariant mass squared of the dimuon system, $q^2$, between 0.1 and 8.0 $GeV^2/c^4$. For the first time, an angular analysis sensitive to the S-, P- and D-wave contributions of this rare decay is performed. The set of 40 normalised angular moments describing the decay is presented for the $q^2$ range 1.1--6.0 $GeV^2/c^4$.
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