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He also slammed Mr. Romney for his shifting positions, saying, “He could be the chief contortionist for Cirque de Soleil.”

Mr. Obama, who spoke second, embraced Mr. Clinton as he walked onstage. Mr. Obama said that at this stage of the campaign he was largely “a prop” and the race was in the voters’ hands.

“The power is not with us anymore,” he said. “It’s all up to you.”

Mr. Obama’s campaign said it had registered 1.8 million voters in key battleground states, nearly double the number of voters it registered in 2008. Campaign officials said volunteers had made 125 million personal phone calls or door knocks with voters.

Mr. Romney has also attracted large crowds in the final weekend of campaigning. His rally in Ohio on Friday drew more than 20,000 people.

“When I look at being on the road for three days with Gov. Romney and the crowds, when I look at the undecideds, I believe that Gov. Romney will not only win on Tuesday, I believe he could win decisively,” Romney adviser Ed Gillespie said on ABC’s “This Week.”

The Republican nominee has been using teleprompters to deliver his final campaign speeches. He’s claiming the mantle of change — and highlighting what he says was a bipartisan record as governor of Massachusetts.

In addition to Pennsylvania, Mr. Romney will campaign Sunday in Iowa, Ohio and Virginia.

Associated Press writers Kasie Hunt in Englewood, Colo., and Josh Lederman in Washington contributed to this report.