Members of a US congressional committee investigating the Jeffrey Epstein case have intensified their calls for Andrew Mountbatten Windsor to answer questions about his links to the late sex offender.

King Charles stripped his brother of his “prince” title on Thursday, following months of pressure over Andrew’s ties to Epstein. Andrew has always denied wrongdoing.

At least four Democrat members of the House Oversight Committee have since renewed their calls for Andrew to testify – although the panel is controlled by Republicans, who have not indicated they would support the move.

Congressman Raja Krishnamoorthi told BBC Newsnight he would be willing to formally summon Andrew, but urged him to appear voluntarily and “come clean”.

Speaking on Friday, he said that were the panel to subpoena the prince – an official order for a person to appear before officials or provide evidence – it would be difficult to enforce while he was outside of the US.

“However, if Andrew wishes to come to the United States or he’s here, then he’s subject to the jurisdiction of the US Congress, and I would expect him to testify.”

He added: “At the end of the day, we want to know exactly what happened, not just to give justice to the survivors, but to prevent this from ever happening again.”

“Come and testify and tell us what you know.”

Fellow Democrat committee member Stephen Lynch also told the BBC hearing from Andrew “might be helpful in getting justice for these survivors” but said the committee would be unable to subpoena him “as the situation stands”.

Meanwhile, Liz Stein – one of Epstein’s accusers – also said Andrew should “take some initiative” and help US investigators.

She told BBC Breakfast on Saturday: “A lot of us are curious as to why he’s unwilling to cooperate and be questioned about his involvement with Epstein.”

“If he has nothing to hide, then why is he hiding?”

“We know he had a longstanding friendship with Epstein and that he was in his social circle – so he may have seen things during his involvement with Epstein that he could speak to.”

It comes after UK trade minister Chris Bryant told the BBC Andrew should go to the US to answer questions about Epstein’s crimes if invited, “just as with any ordinary member of the public”.

Separately, new court documents published in the US on Friday showed that Andrew wrote in an email in 2010 that it would be “good to catch up in person” with Epstein, after he was released from prison for soliciting prostitution from a minor.

In an email dated 15 April 2010, Epstein suggested the then-prince should meet American banker Jes Staley, which Andrew said he was not able to do due to his schedule.

“I have no immediate plans to drop by New York but I think I should at some stage soon,” he told Epstein.

“I’ll look and see if I can make a couple of days before the summer.

“It would be good to catch up in person.”

The pair were then pictured together in Central Park in New York in December 2010, in a meeting that Andrew later told the BBC was to break off their friendship.

Andrew’s ties to Epstein were at the centre of Thursday’s decision, with the Palace announcement stating: “These censures are deemed necessary, notwithstanding the fact that he continues to deny the allegations against him.”

“Their Majesties wish to make clear that their thoughts and utmost sympathies have been, and will remain with, the victims and survivors of any and all forms of abuse.”

In recent weeks, pressure had increased on the monarchy to resolve the issue of Charles’s brother.

In early October, emails which re-emerged from 2011 showed Andrew in contact with Epstein months after he claimed their friendship had ended.

A posthumous memoir by Virginia Giuffre was also released – repeating allegations that, as a teenager, she was forced to have sex with Andrew on three separate occasions, claims he has always denied.

And earlier this week, the King heckled about the matter.

Although Andrew denies the accusations, the Royal Family considers there have been “serious lapses of judgement” in his behaviour.