North Korea fires a missile as the U.S. and South Korea prepare for military exercises

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North Korea on Saturday fired a long-range missile from its capital into the sea off Japan, according to its neighbors, a day after it threatened to take strong measures against South Korea and the U.S. over their joint military exercises.

According to the South Korean and Japanese militaries, the missile was fired on a high angle, apparently to avoid reaching the neighbors' territories, and traveled about 900 kilometers (560 miles) at a maximum altitude of 5,700 kilometers (3,500 miles) during an hourlong flight.

The details were similar to North Korea's Hwasong-17 intercontinental ballistic missile test flight in November, which experts said demonstrated potential to reach the U.S. mainland if fired on a normal trajectory.

Japanese government spokesperson Hirokazu Matsuno said no damage has been reported from the missile, which landed within Japan's exclusive economic zone, about 200 kilometers (125 miles) west of Oshima island. Oshima lies off the western coast of the northernmost main island of Hokkaido.