So what kind of bike is this?
If it runs OK then the engine isn't toasted, and the starter should be able to turn it over without dragging the battery down to 9.5 volts. When you measured the battery voltage while cranking did you do this right on the battery posts (this eliminates bad connections on the way to the starter, both hot and ground return)? If the battery voltage right on the posts goes to 9.5 volts then you battery is bad, the battery isn't charged, or your starter is shorted.
Jump the quad to your car (make absolutely sure you don't get the connections reversed, or your quad will lose the car/quad battery battle). Does the voltage stay up while cranking? Does it crank normal speed? Does the starter get hot quickly?
Start up the car with the jumper cables in place and use the car to charge the batteries (car and quad) together for 10 minutes or so. Remove the jumper cables. Does the battery do any better while cranking (i.e. is the battery more charged now)?
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