In the semifinal in Houston on Wednesday, they will take on Panama, who scored in the 90th minute to tie the game and went on to beat El Salvador 5-3 on penalties.
Jermaine Jones broke the deadlock with his first goal for his country four minutes into the second half.
Striker Clint Dempsey, who rejoined the team on Sunday after missing three days to attend his sister's wedding in Texas, put the result beyond doubt in the 80th minute, side-stepping an advancing goalkeeper and tapping the ball into an open net.
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