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Speed of sound and Light - calculating time and distance

During a thunderstorm, we first see the lightning and then hear the thunder. Assume that clouds and storm occur in the lower reaches of the earth's atmosphere, which is approximately 5km above the earth's surface. How long after you see the lightning do you hear the thunder?

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Let's take the speed of sound in air as v = 340m/s
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Very detail answer with easy to understand steps.