North Korea fired a ballistic missile toward the sea on Wednesday, its second weapons test in less than a week, as the United States and South Korea prepared to begin annual military exercises. South Korea and Japan condemned the launch as a provocation. The tests are seen as a signal of Pyongyang's opposition to the upcoming Ulchi Freedom Shield drills, which North Korea views as a rehearsal for an invasion. The launch follows a previous missile test days earlier and comes amid international concern over North Korea's continued weapons development program. The annual US-South Korea exercises are scheduled to begin next week.