slow crank no start

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When vehicle sits over night and cools down, starting up in morning,there will be a slow crank, like there is not enough battery voltage. If you stump on the gas pedel a few times, the vehicle will start up, but you have to rev it to keep is running. If you let go of the gas pedel, it will stall out. Once you have the vehicle running, it will run fine and start up fine. Only happens if the vehicle is sitting for a few hours or so. There is no check engine light on.