Python - BeautifulSoup, get tag within a tag

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How would I got about getting a tag within a tag?

Out of the td tag here:

<td scope="row"><a href="/Archives/edgar/data/1085621/000108562117000004/actuacorp12312016.htm">actuacorp12312016.htm</a></td>

I want the value of the href tag within it, primarily the htm link:

<a href="/Archives/edgar/data/1085621/000108562117000004/actuacorp12312016.htm">actuacorp12312016.htm</a>

I have tags like these:

<tr>
<td scope="row">1</td>
<td scope="row">10-K</td>
<td scope="row"><a href="/Archives/edgar/data/1085621/000108562117000004/actuacorp12312016.htm">actuacorp12312016.htm</a></td>
<td scope="row">10-K</td>
<td scope="row">2724989</td>
</tr>
<tr class="blueRow">
<td scope="row">2</td>
<td scope="row">EXHIBIT 21.1</td>
<td scope="row"><a href="/Archives/edgar/data/1085621/000108562117000004/exhibit211q42016.htm">exhibit211q42016.htm</a></td>
<td scope="row">EX-21.1</td>
<td scope="row">21455</td>
</tr>
<tr>
<td scope="row">3</td>
<td scope="row">EXHIBIT 23.1</td>
<td scope="row"><a href="/Archives/edgar/data/1085621/000108562117000004/exhibit231q42016.htm">exhibit231q42016.htm</a></td>
<td scope="row">EX-23.1</td>
<td scope="row">4354</td>
</tr>

Code to see all the tags:

base_url = "https://www.sec.gov/Archives/edgar/data/1085621/000108562117000004/" \
               "0001085621-17-000004-index.htm"
    response = requests.get(base_url)
    base_data = response.content
    base_soup = BeautifulSoup(base_data, "html.parser")
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