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How is PWM used in control of DC motors

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Hello All,
I am begineer, After seeing some videos I am wondering how is PWM used to drive DC motors. I am assuming the way to control DC motor is assigning a pin as output and connecting a transistor and relay to activate a dc motor.
How a PWM can be utilized in control/ working of DC motors?
I have also seen that a RC low pass filter is used to convert the PWM signal to DC. Under what circumstances we need to convert a PWM to DC?

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