A search for a light charged Higgs boson (H$^+$) decaying to a W boson and a CP-odd Higgs boson (A) in final states with e$\mu\mu$ or $\mu\mu\mu$ is performed using data from pp collisions at $\sqrt{s}=$ 13 TeV, recorded by the CMS detector at the LHC and corresponding to an integrated luminosity of 35.9 fb$^{-1}$. In this search, it is assumed that the H$^+$ boson is produced in decays of top quarks, and the A boson decays to two oppositely charged muons. The presence of signals for H$^+$ boson masses between 100 and 160 GeV and A boson masses between 15 and 75 GeV is investigated. No evidence for the production of the H$^+$ boson is found. Upper limits at 95% confidence level are obtained on the combined branching fraction for the decay chain t $\to$ bH$^+$ $\to$ bW$^+$A $\to$ bW$^+\mu^+\mu^-$, of 1.9 $\times$ 10$^{-6}$ to 8.6 $\times$ 10$^{-6}$, depending on the masses of the H$^+$ and A bosons. These are the first limits for these decay modes of the H$^+$ and A bosons.
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