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If you are on GNOME, you should be able to open up the GUI for viewing the disk partitions, under which a list of storage devices will be listed. Find your USB and edit the options to allow for automatic mounting.

To manually mount a partition, find the symbolic mountpoint in /dev as listed by lsblk (try and scope out which one it is using the size -- USBs should be small from 8GB to 256GB). You can try and find the name of the partition in the above GUI as well. Once found, just create a place to mount it temporary with mkdir or a file manager, then:

mount /dev/the-mountpoint /mnt/somewhere


To summarize, this could be a potential command that creates mount directory and mounts:

mkdir /mnt/rmable && mount /dev/sdb1 /mnt/rmable


Hope that helps.