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Bash Shell Find Out If A Command Exists On UNIX / Linux System ($PATH) OR Not

I want find out if a command exists on UNIX from a bash shell script. If command does not exists in $PATH, then I would like to display an error message on screen. How do I find out if a command exists on Posix system or not?
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Linux / UNIX: Command Not Found Error and Solution

Why I am getting the error Command not found? How do I fix this problem?
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