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Amos was born on December 27, 1939 in Newark, New Jersey. He studied at East Orange High School, at Long Beach City College and at Colorado State University. Amos was married to Noel J. Mickelson from 1965 until they divorced in 1975. He was later married to Lillian Lehman from 1978 until they divorced in 1979. He is now married to Elisabete De Sousa. Amos has four children.