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Impeachment is a long process and lots of times doesn't work in time. This happened with Bill Clinton. He was on trial to be impeached but finished his term before he could be removed from office.
According to the United States House of Representatives, the process when a bill is passed and becomes a law in print is called Legislation. A resolution is passed after a bill is proposed to the President for his approval. A bill and a joint resolution are also considered the same. Except that a joint resolution needs a vote from the senate and the House of Representatives and if voted for by the majority is sent straight for implementation and the President's signature is not needed.
A bill may be vetoed by the members or amended. It can result in a lot of debate before it is done either too.
It is very emotional and inspiring