WARSAW—President Biden appeared to call for Vladimir Putin’s ouster in a speech Saturday, saying the Russian president’s invasion of Ukraine had ignited a “new battle for freedom” between democracies and autocracies.

“For god’s sake, this man cannot remain in power,” Mr. Biden said at the Royal Castle before nearly a thousand attendees, including Polish President Andrzej Duda and members of the parliament. Hundreds of Poles also gathered nearby to watch a live stream of the speech.

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