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2 men and 2 boys need to cross a river in a boat big enough for 1 man or 2 boys. How do they do it?

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3 missionaries and 3 obediant but hungry cannibals have to cross a river using a 2-man rowing boat. If on either bank cannibals outnumber missionaries the missionaries will be eaten. How can everyone cross safely? How can you measure out exactly 4 litres of water from a tap using a 3 litre and a 5 litre bucket?