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Davos, Switzerland • Britain's Prince Andrew on Thursday publicly denied for the first time allegations that he had sex with an underage teenager.

The 54-year-old royal, Queen Elizabeth II's second son and fifth in line to the British throne, has faced increasing pressure to respond to the accusations after the woman — identified only as Jane Doe #3 in court papers — named him in documents filed with a Florida court by University of Utah law professor Paul Cassell and Florida attorney Bradley Edwards.

The filing was part of a lengthy federal victims' rights lawsuit against American financier Jeffrey Epstein, who, the woman claims, forced her to have sex with prominent people, including Prince Andrew and Harvard Law School professor emeritus Alan Dershowitz.

Andrew is not named as a defendant in that case, and no criminal charges or formal allegations have been made against him.

Buckingham Palace officials have strongly denied that Andrew had any sexual involvement with the woman.

"I just wish to reiterate and to reaffirm the statements which have already been made on my behalf by Buckingham Palace," Prince Andrew said Thursday during a visit to the World Economic Forum in Davos, Switzerland. "My focus is on my work."

Cassell, a former federal judge in Utah, and Edwards, who represent Jane Doe #3 and three other women, have filed papers requesting that the prince respond to her claims under oath.

The woman says in court papers the prince's denials are false.

"I hope my attorneys can interview Prince Andrew under oath about the contacts and that he will tell the truth," she says in the papers.

The woman claims she was forced to have sex with the royal in London, in New York and on a private Caribbean island from 1999 to 2002.

The prince, also known as the Duke of York, has been dogged for years over his relationship with Epstein. In July 2011, he stepped down from his role as a U.K. trade ambassador following the controversy over his links with the billionaire.

Cassell and Edwards' lawsuit alleges violations of the federal Crime Victims' Rights Act in the prosecution of Epstein.

Dershowitz has asked to intervene in the federal lawsuit so he can ask that the allegations against him be stricken from the court record. But Cassell and Edwards argue that Dershowitz can "litigate his reputational interests" in another forum.

The two attorneys point out that they have filed a suit in a Florida state court accusing Dershowitz of defaming them by, among other comments, repeatedly calling them "two sleazy, unprofessional, disbarable lawyers" in media interviews.

Cassell and Edwards also allege that Dershowitz "completely ignored" a request made earlier in January that he submit to a deposition in the victims' rights case regarding his alleged participation in the abuse of underage girls, "while simultaneously continuing to publicly protest his inability to challenge the allegations against him in a legal proceeding."