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Michael Ngadeu-Ngadjui scored deep in the second half, and Christian Bassogog netted in an injury-time counter-attack to book Cameroon's place opposite Egypt in Sunday's final.
The Indomitable Lions had the better of the intense early exchanges, and Adolphe Teikeu saw his header cleared off the line well by Harrison Afful after Bassogog had won a corner.
Another chance came for Cameroon soon after, though Brimah Razak made a smart reaction save to deny Robert Ndip Tambe as he sought to convert Benjamin Moukandjo's cross from close range.
The Daily Mail's Jonny Singer remarked on Cameroon's excellent start to the match:
Jonny SingerCameroon have shown more intent in first 14 mins than at any point in first 90 against Senegal.