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Jim Mattis, who resigned as Trump's defense secretary nearly a year and a half ago, accuses the president of dividing the nation and warns against "militarizing our response" to protests.
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Deputy Defense Secretary Patrick Shanahan will assume Mattis' duties starting in the new year. Trump had previously said Mattis would step down at the end of February.
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The retired Marine general had been granted a rare waiver to run the Pentagon as he had been out of uniform for only three years, but his relationship with President Trump eventually turned cold.
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Defense Secretary Jim Mattis is leaving an Obama-era policy on transgender military service members largely intact, saying he needs input from an expert panel.