WALLACE, Chief Judge:
Bosch appeals from his conviction on eight charges related to cocaine trafficking and money laundering. He argues that the district judge should have recused himself, on the ground that the prosecutor had served as the judge’s law clerk. Bosch also contends that he did not receive effective assistance of counsel, that the district court erred in allowing a government witness to testify as an expert, and that there was insufficient evidence to convict him on many of the counts. The district court had jurisdiction pursuant to 18 U.S.C. § 3231. We have jurisdiction over this timely appeal pursuant to 28 U.S.C. § 1291. We affirm.
I
Bosch worked at his father’s investigative and Hispanic services agency in Glendale, California. Through this business, Bosch and his father became involved with a number of Colombian drug dealers. After being arrested, two of these dealers agreed to cooperate with the government in its investigation into drug trafficking and money laundering. In the course of this investigation, government officials learned that Bosch and his father had assisted the dealers by providing numerous support services integral to the dealers’ cocaine trafficking operation. For example, Bosch’s father provided false business papers documenting a fictitious cattle sale in South America so that the dealers could launder the proceeds of their drug sales through a corporate bank account, and helped arrange and provide documentation for a marriage involving one of the dealers for immigration purposes. In addition, Bosch provided a house for the dealers in which they stored cocaine and money, rented various cars for the dealers that were used to confuse police officers conducting surveillance, and provided false identification and a fraudulent social security card to one of the dealers.
Finally, one of the dealers participated in an undercover investigation by introducing Bosch’s father to a government agent, identifying the agent as a fellow cocaine dealer. The agent explained that he needed false identification and fraudulent corporate documentation that could be used to launder drug money. Bosch and his father thereafter provided the agent with false identification, a social security card, and [1548]*1548phony corporate certificates and resolutions.
On August 20, 1986, Bosch, his father, and three other defendants were charged in a 12-count indictment. The government charged Bosch in eight of these counts, alleging that he conspired to aid and abet cocaine trafficking through the provision of support services, and that he unlawfully possessed and transferred false identification documents and counterfeit social security cards. A jury convicted Bosch on all eight counts.
II
Bosch first contends that we should reverse his conviction because the district judge did not recuse himself from the trial pursuant to 28 U.S.C. § 455(a). Bosch argues that the judge’s impartiality might reasonably be questioned on the grounds that the prosecutor had served as the judge’s law clerk and the two had maintained a close relationship.
Because Bosch raises this claim for the first time on appeal, we must first address the effect of his failure to move for recusal at the trial level. Previously, we have held that “timeliness cannot be disregarded in all cases involving the delicate matter of disqualification under section 455,” while leaving open the question whether timeliness may be disregarded in exceptional circumstances. United States v. Conforte, 624 F.2d 869, 880 (9th Cir.) (Conforte), cert. denied, 449 U.S. 1012, 101 S.Ct. 568, 66 L.Ed.2d 470 (1980). Similarly, in Salmeron v. United States, 724 F.2d 1857 (9th Cir.1983), we denied a party’s request to remand the case to a different judge based on alleged bias, because the party “failed to raise th[e] claim below, and because he fail[ed] to specify any facts that would support an allegation of bias.” Id. at 1365 n. 5, citing Conforte, 624 F.2d at 869. In this case, Bosch was aware of the alleged grounds for recusal at the time of his motion for a new trial, and therefore could knowledgeably have raised the issue at that time. Conforte and Salmerón would therefore support a refusal to hear his claims now.
Without reference to Conforte or Sal-merón, we subsequently stated that a party’s “failure to move for recusal at the trial level does not preclude his raising the issue on appeal.” In re Manoa Finance Co., 781 F.2d 1370, 1373 (9th Cir.1986) (Manoa), cert. denied, 479 U.S. 1064, 107 S.Ct. 948, 93 L.Ed.2d 997 (1987). In formulating its rule, Manoa relied on United States v. Sibla, 624 F.2d 864, 868 (9th Cir.1980). See Manoa, 781 F.2d at 1373. In Sibla, we held that a party’s failure to move for recusal “will significantly affect the appellate standard of review,” and that a party who made no motion in the trial court “will bear a greater burden on appeal in demonstrating that the judge committed reversible error in failing to grant recusal under section 455.” 624 F.2d at 868. Thus, even assuming that Bosch may raise his section 455 recusal claim for the first time on appeal, following Sibla, we would review the district court’s failure to recuse himself under the plain error standard. See id.
“Plain error will be found only if the error was highly prejudicial and there was a high probability that the error materially affected the verdict.” United States v. Anguiano, 873 F.2d 1314, 1319 (9th Cir.) (Anguiano) (quotation omitted), cert. denied, 493 U.S. 969, 110 S.Ct. 416, 107 L.Ed.2d 381 (1989). Reversal of a criminal conviction on the basis of plain error is an exceptional remedy, one which we invoke “ ‘only when it appears necessary to prevent a miscarriage of justice or to preserve the integrity and reputation of the judicial process.’ ” Id., quoting United States v. Bustillo, 789 F.2d 1364, 1367 (9th Cir.1986).
Bosch contends that several excerpts from the trial transcript demonstrate that the district judge was biased in favor of the prosecutor, and that this bias deprived Bosch of the benefit of an impartial trial. For example, Bosch argues the district judge demonstrated an intolerable level of bias when he commented that he thought of the prosecutor, a former law clerk, as a son. But a close analysis of these excerpts shows that the judge did not favor the prosecutor in any way. Although he ac[1549]*1549knowledged that he felt close to the prosecutor, the judge stated that “[h]e’s never had any special consideration from me. As a matter of fact, it was quite the opposite.” Later, the judge commented that “I would be very critical of [the prosecutor], as I would have, as I say, one of my sons.” These remarks fail to demonstrate that Bosch suffered any prejudice, let alone “a miscarriage of justice.”
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WALLACE, Chief Judge:
Bosch appeals from his conviction on eight charges related to cocaine trafficking and money laundering. He argues that the district judge should have recused himself, on the ground that the prosecutor had served as the judge’s law clerk. Bosch also contends that he did not receive effective assistance of counsel, that the district court erred in allowing a government witness to testify as an expert, and that there was insufficient evidence to convict him on many of the counts. The district court had jurisdiction pursuant to 18 U.S.C. § 3231. We have jurisdiction over this timely appeal pursuant to 28 U.S.C. § 1291. We affirm.
I
Bosch worked at his father’s investigative and Hispanic services agency in Glendale, California. Through this business, Bosch and his father became involved with a number of Colombian drug dealers. After being arrested, two of these dealers agreed to cooperate with the government in its investigation into drug trafficking and money laundering. In the course of this investigation, government officials learned that Bosch and his father had assisted the dealers by providing numerous support services integral to the dealers’ cocaine trafficking operation. For example, Bosch’s father provided false business papers documenting a fictitious cattle sale in South America so that the dealers could launder the proceeds of their drug sales through a corporate bank account, and helped arrange and provide documentation for a marriage involving one of the dealers for immigration purposes. In addition, Bosch provided a house for the dealers in which they stored cocaine and money, rented various cars for the dealers that were used to confuse police officers conducting surveillance, and provided false identification and a fraudulent social security card to one of the dealers.
Finally, one of the dealers participated in an undercover investigation by introducing Bosch’s father to a government agent, identifying the agent as a fellow cocaine dealer. The agent explained that he needed false identification and fraudulent corporate documentation that could be used to launder drug money. Bosch and his father thereafter provided the agent with false identification, a social security card, and [1548]*1548phony corporate certificates and resolutions.
On August 20, 1986, Bosch, his father, and three other defendants were charged in a 12-count indictment. The government charged Bosch in eight of these counts, alleging that he conspired to aid and abet cocaine trafficking through the provision of support services, and that he unlawfully possessed and transferred false identification documents and counterfeit social security cards. A jury convicted Bosch on all eight counts.
II
Bosch first contends that we should reverse his conviction because the district judge did not recuse himself from the trial pursuant to 28 U.S.C. § 455(a). Bosch argues that the judge’s impartiality might reasonably be questioned on the grounds that the prosecutor had served as the judge’s law clerk and the two had maintained a close relationship.
Because Bosch raises this claim for the first time on appeal, we must first address the effect of his failure to move for recusal at the trial level. Previously, we have held that “timeliness cannot be disregarded in all cases involving the delicate matter of disqualification under section 455,” while leaving open the question whether timeliness may be disregarded in exceptional circumstances. United States v. Conforte, 624 F.2d 869, 880 (9th Cir.) (Conforte), cert. denied, 449 U.S. 1012, 101 S.Ct. 568, 66 L.Ed.2d 470 (1980). Similarly, in Salmeron v. United States, 724 F.2d 1857 (9th Cir.1983), we denied a party’s request to remand the case to a different judge based on alleged bias, because the party “failed to raise th[e] claim below, and because he fail[ed] to specify any facts that would support an allegation of bias.” Id. at 1365 n. 5, citing Conforte, 624 F.2d at 869. In this case, Bosch was aware of the alleged grounds for recusal at the time of his motion for a new trial, and therefore could knowledgeably have raised the issue at that time. Conforte and Salmerón would therefore support a refusal to hear his claims now.
Without reference to Conforte or Sal-merón, we subsequently stated that a party’s “failure to move for recusal at the trial level does not preclude his raising the issue on appeal.” In re Manoa Finance Co., 781 F.2d 1370, 1373 (9th Cir.1986) (Manoa), cert. denied, 479 U.S. 1064, 107 S.Ct. 948, 93 L.Ed.2d 997 (1987). In formulating its rule, Manoa relied on United States v. Sibla, 624 F.2d 864, 868 (9th Cir.1980). See Manoa, 781 F.2d at 1373. In Sibla, we held that a party’s failure to move for recusal “will significantly affect the appellate standard of review,” and that a party who made no motion in the trial court “will bear a greater burden on appeal in demonstrating that the judge committed reversible error in failing to grant recusal under section 455.” 624 F.2d at 868. Thus, even assuming that Bosch may raise his section 455 recusal claim for the first time on appeal, following Sibla, we would review the district court’s failure to recuse himself under the plain error standard. See id.
“Plain error will be found only if the error was highly prejudicial and there was a high probability that the error materially affected the verdict.” United States v. Anguiano, 873 F.2d 1314, 1319 (9th Cir.) (Anguiano) (quotation omitted), cert. denied, 493 U.S. 969, 110 S.Ct. 416, 107 L.Ed.2d 381 (1989). Reversal of a criminal conviction on the basis of plain error is an exceptional remedy, one which we invoke “ ‘only when it appears necessary to prevent a miscarriage of justice or to preserve the integrity and reputation of the judicial process.’ ” Id., quoting United States v. Bustillo, 789 F.2d 1364, 1367 (9th Cir.1986).
Bosch contends that several excerpts from the trial transcript demonstrate that the district judge was biased in favor of the prosecutor, and that this bias deprived Bosch of the benefit of an impartial trial. For example, Bosch argues the district judge demonstrated an intolerable level of bias when he commented that he thought of the prosecutor, a former law clerk, as a son. But a close analysis of these excerpts shows that the judge did not favor the prosecutor in any way. Although he ac[1549]*1549knowledged that he felt close to the prosecutor, the judge stated that “[h]e’s never had any special consideration from me. As a matter of fact, it was quite the opposite.” Later, the judge commented that “I would be very critical of [the prosecutor], as I would have, as I say, one of my sons.” These remarks fail to demonstrate that Bosch suffered any prejudice, let alone “a miscarriage of justice.”
Bosch also refers to a sidebar conference at which defense counsel complained about the prosecutor’s tardy delivery of trial documents, and the judge stated that it was “not like [the prosecutor] to do that.” Because the prosecutor agreed to forego addressing matters raised by these documents until defense counsel had sufficient time to prepare, however, Bosch suffered no prejudice. Bosch further points to the judge’s comment at a post-trial hearing that he wanted to “make things easier” for the prosecutor as evidence of prejudice. At that hearing the judge was ruling on the prosecutor’s request that sentencing go forward immediately, because his schedule made it impossible for him to respond to defense counsel’s motion for an evidentiary hearing at that time. Far from favoring the prosecutor, the judge ruled in favor of the defense and directed the prosecutor to prepare for the evidentiary hearing. At the same time, however, the judge acknowledged the prosecutor’s time constraints, and therefore directed the defense to be clear and concise in drafting their papers to “make things easier” on the prosecutor. Bead in context, these remarks do not show that Bosch was prejudiced in any manner.
Finally, Bosch argues that the degree of the district judge’s impatience with defense counsel throughout trial is an illustration of actual prejudice. Admittedly, the judge became exasperated with defense counsel on occasion, but we conclude that such exasperation was explainable in light of the sometimes irrelevant and duplicative testimony attempted to be introduced by the defense. The judge’s occasional impatience does not show bias.
Bosch has failed to demonstrate that the district judge was biased against the defendant, or that any alleged bias resulted in actual prejudice. It is clear, therefore, that Bosch has failed to demonstrate that the district judge’s failure to recuse himself was “highly prejudicial and there was a high probability that [any] error materially affected the verdict.” Anguiano, 873 F.2d at 1319 (quotations omitted). Thus, Bosch did not show plain error.
III
Bosch next argues that his conviction should be reversed because he was denied effective assistance of counsel at trial. We decline, however, to reach the merits of Bosch’s ineffective assistance of counsel claim. We have held previously that “[t]he customary procedure for challenging the effectiveness of defense counsel in a federal criminal trial is by collateral attack on the conviction under 28 U.S.C. 2255.” United States v. Birges, 723 F.2d 666, 670 (9th Cir.), cert. denied, 466 U.S. 943, 469 U.S. 863, 104 S.Ct. 1926, 105 S.Ct. 200, 80 L.Ed.2d 472, 83 L.Ed.2d 131 (1984). Collateral attack is the preferred method because “such a claim cannot be advanced without the development of facts outside the original record.” Id.
IV
Bosch next argues that the district court erred in allowing Newbrough, a special agent with the Internal Revenue Service, to testify as an expert on cocaine trafficking and to state his opinion that Bosch’s activities aided and abetted the distribution of cocaine. “The decision to admit expert testimony is committed to the discretion of the court and will not be disturbed unless manifestly erroneous.” United States v. Kinsey, 843 F.2d 383, 388 (9th Cir.), cert. denied, 487 U.S. 1223, 488 U.S. 836, 108 S.Ct. 2882, 109 S.Ct. 99, 101 L.Ed.2d 916, 102 L.Ed.2d 75 (1988). Bosch’s trial counsel did not object to Newbrough’s testimony. We, therefore, review for plain error. See Fed. R.Evid. 103(d); Fed.R.Crim.P. 52(b); United States v. Bustillo, 789 F.2d 1364, 1367 (9th Cir.1986).
[1550]*1550Bosch first argues that Newbrough’s testimony violated Federal Rule of Evidence 702, because Newbrough testified beyond his expertise when he opined that Bosch’s activities aided the distribution of cocaine. We recently rejected this argument, however, in ruling on the appeal brought by Bosch’s father from the same trial. See United States v. Bosch, 914 F.2d 1239, 1242-43 (9th Cir.1990) (Bosch, Sr.). We stated that “[b]ecause Newbrough had training and experience in conducting narcotics investigations and explained a basis for his opinion that would help the jury determine [the father’s] role in the charged offense,” his testimony did not violate Rule 702. Id. at 1243. We conclude that this reasoning applies with equal force to Bosch.
Bosch further contends that the testimony violated Federal Rule of Evidence 704, which prohibits an expert witness from offering an opinion on whether the defendant had the mental state constituting an element of the crime charged. In deciding the appeal brought by Bosch’s father, however, we observed that “Newbrough’s testimony, rather than opining on Bosch’s mental state or his guilt, was directed primarily at whether Bosch’s activities helped in the distribution of cocaine.” Id. We therefore reasoned that the testimony did not violate Rule 704. Id. at 1244. We adopt this holding in rejecting Bosch’s identical claim.
There was no abuse of discretion in admitting Newbrough’s testimony. Therefore, it follows that Bosch did not demonstrate plain error.
V
Finally, Bosch contends that there was insufficient evidence to convict him on a number of the counts with which he was charged. Viewing the evidence in the light most favorable to the government, we must determine whether “ ‘any rational trier of fact could have found the essential elements of the crime beyond a reasonable doubt.’ ” United States v. Adler, 879 F.2d 491, 495 (9th Cir.1988), quoting Jackson v. Virginia, 443 U.S. 307, 319, 99 S.Ct. 2781, 2789, 61 L.Ed.2d 560 (1979).
Bosch first argues that he should not have been convicted on the two counts charging a conspiracy to aid and abet the possession and distribution of cocaine, because there was insufficient evidence to demonstrate that he knew of the conspiracy or shared its objectives. The government, however, presented a great deal of evidence from which a rational jury could have found that Bosch knew of and participated in the cocaine trafficking conspiracy. In addition to the evidence outlined earlier, after providing a house for one of the drug dealers to store cocaine and money, Bosch entered a closet in the house that contained 40 pounds of cocaine. Furthermore, Bosch heard his father tell the dealer that he knew the dealer was distributing cocaine. From this and other similar evidence, a rational jury was justified in finding that Bosch knowingly joined the conspiracy.
Bosch next argues against his conviction for conspiracy to aid and abet the distribution of cocaine to the government agent. He contends that because none of the conspirators actually distributed cocaine to the government agent, there is insufficient evidence to convict on that conspiracy charge. According to Bosch, it was legally impossible for the conspirators to conspire to aid and abet a nonexistent offense. We ruled against an identical argument in the related appeal by Bosch’s father, however, observing that “[w]e have ‘rejected the doctrine of legal impossibility as a defense to a charge of conspiracy.’ ” Bosch, Sr., 914 F.2d at 1241, quoting United States v. Everett, 692 F.2d 596, 599 (9th Cir.1982), cert. denied, 460 U.S. 1051, 103 S.Ct. 1498, 75 L.Ed.2d 930 (1983). Because the conspirators had agreed to commit the offense and one of them had done an overt act in furtherance of the agreement, there was sufficient evidence to convict Bosch on this count. See id.
Finally, Bosch contends that insufficient evidence existed to convict him of conspiracy to possess false identification documents with the intent to defraud the United States. Bosch relies on United [1551]*1551States v. Murphy, 809 F.2d 1427 (9th Cir.1987), in arguing that the government failed to prove that he had the intent to defraud the United States. In Bosch, Sr., we relied on Murphy in holding that there was insufficient evidence to convict Bosch’s father of conspiracy to defraud the United States by filing false currency transaction reports. Because Murphy held that there was no duty to report the source of money on these reports, we concluded that the evidence was insufficient to convict Bosch’s father of defrauding the United States by failing to provide such information. See Bosch, Sr., 914 F.2d at 1242.
In this case, Bosch relies on Murphy in arguing against his conviction for conspiracy to defraud the United States through the possession of false identification documents. But Murphy, which deals with the duty to disclose information relating to currency transaction reports, is of no help to Bosch. The evidence admitted demonstrated that Bosch knowingly possessed and distributed a number of false identification documents and counterfeit social security cards, and thus intended to provide false information to defraud the government.
AFFIRMED.