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Three muddy children and a father who keeps asking

Three children come in from playing. All three have mud on their foreheads. Each can see the others' foreheads but not their own, and there are no mirrors.

Their father says: "At least one of you has a muddy forehead. If you know you are muddy, step forward." Nobody moves. He repeats the exact same request. Nobody moves. He repeats it again.

On which asking do the muddy children step forward, and why did they wait? The children are perfect logicians and all know that of each other.

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First solve the case where only one child is muddy, then two, then three.

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