$ man tr
NAME
tr - translate or delete characters
SYNOPSIS
tr [OPTION]... SET1 [SET2]
DESCRIPTION
Translate, squeeze, and/or delete characters from standard
input, writing to standard output.
In order to wipe all whitespace including newlines you can try:
cat file.txt | tr -d "
"
You can also use the character classes defined by tr (credits to htompkins comment):
cat file.txt | tr -d "[:space:]"
For example, in order to wipe just horizontal white space:
cat file.txt | tr -d "[:blank:]"
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