It is difficult to accomplish, but far from impossible. It just takes time and expertise. The quicker way would be to engage a firm that specializes in taking companies public as they also arrange SEC filings. The only problem here is that this tack is more expensive and requires the company to listen to the recomendations of the specialists.
Our easiest task would be to apply to the OTCBB. From what I have seen, the only thing required is SEC reporting. There is no minimum PPS or shareholder equity. Initial requirements for the AMEX seem out of reach at this time.
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