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Is that we can access or see the file in pendrive which is plugged into pi, as a normal storage device in a PC from which the pi is powered?

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I assume you are using Raspbian. If so then you can use usbip that is part of the default Raspbian repository. with apt show usbip you will get among other things:

USB/IP is a system for sharing USB devices over the network. To share USB devices between computers with their full functionality, USB/IP encapsulates "USB requests" into IP packets and transmits them between computers.

Original USB device drivers and applications can be used for remote USB devices without any modification of them. A computer can use remote USB devices as if they were directly attached.

Currently USB/IP provides no access control or encryption. It should only be used in trusted environments.

How to install it you may find some hints at How do I make my Raspberry Pi act as a wireless USB controller?:

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No.

You can, however, make the Pi's filesystem accessible over the network, using something like SSHFS, NFS or Samba. You'll find the USB drive in /media/pi/.

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