President-elect Donald Trump, escalating his carrot-and-stick approach to the nation’s manufacturing sector, on Tuesday called for canceling Boeing Co.’s work on a new version of Air Force One, asserting that the company was trying to rip off taxpayers.

“The plane is totally out of control,” Mr. Trump said in brief remarks in the lobby of Trump Tower in New York City. He added: “We want Boeing to make a lot of money but not that much money.”

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