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"Black-ish" star Jenifer Lewis appeared on MSNBC's "The Beat" to discuss President Donald Trump's "madness" and "blatant cruelty."

Lewis said: "I speak to the Millennials, those kids grew up with me as the aunt on Fresh Prince, the mother in a lot of African-American movies and I have a special relationship with them, and I'm here to say to the protesters continue peacefully protesting. Get what you need in this great challenge before us. Don’t stop all the diversity, the millions upon millions, it's a sea of humanity that is out in the streets right now saying that's enough of the oppression on killing our children in the streets. They know it's wrong. There has to be reform. And it can’t be a modest bill, Mr. Trump. We have to get to the root of the racism, the deep hate. I have never seen so much hate. It’s so disturbing. We have to come together. we cannot be divided."

The 63-year-old comedienne and character actress plays the mother of lead actress Tracey Ellis Ross on Black-ish.

When asked who she plans to vote for in November, Lewis said, "Well, that choice should be Mr. Biden. We have had enough of this madness, the blatant cruelty, the lies upon lies. We could have been warned back in January. Look how many people have died. This is wrong. We need leadership. My friend, today, do you wear a mask? You don't wear a mask? Well, he doesn't wear a mask. Pence didn't wear a mask, and then you see him in a mask. Leadership, this is the greatest country in the world. Well, you know what? No. The world is great. And that's what has to be new."

Lewis, who was diagnosed with sex addiction and bipolar disorder in 1990, told PEOPLE in 2017, "I have peace of mind now; I'm in my skin. It took years to get to that place, but I did it -- and I have a smile on my face."