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We present the results of photometric observations of three TeV blazars, 3C 66A, S4 0954+658, and BL Lacertae (BL Lac), during the period 2013–2017. Our extensive observations were performed in a total of 360 nights which produced ∼6820 image frames in BVRI bands. We study flux and spectral variability of these blazars on these lengthy time-scales. We also examine the optical spectral energy distributions of these blazars, which are crucial in understanding the emission mechanism of long-term variability in blazars. All three TeV blazars exhibited strong flux variability during our observations. The colour variations are mildly chromatic on long time-scales for two of them. The nature of the long-term variability of 3C 66A and S4 0954+658 is consistent with a model of a non-thermal variable component that has a continuous injection of relativistic electrons with power-law distributions around 4.3 and 4.6, respectively. However, the long-term flux and colour variability of BL Lac suggests that these can arise from modest changes in velocities or viewing angle toward the emission region, leading to variations in the Doppler boosting of the radiation by a factor of ∼1.2 over the period of these observations. [ABSTRACT FROM AUTHOR]

ABSTRACT We report results from a one-week multiwavelength campaign to monitor the BL Lacertae object (BL Lac) S5 0716+714 (on 2009 December 9-16). Nine ground-based telescopes at widely separated longitudes and one space-based telescope aboard the Swift satellite collected optical data. Radio data were obtained from the Effelsberg and Urumqi observatories and X-ray data from Swift. In the radio bands, the source shows rapid [∼(0.5-1.5) d] intraday variability with peak amplitudes of up to ∼10 per cent. The variability at 2.8 cm leads by about 1 d the variability at 6 and 11 cm. This time lag and more rapid variations suggest an intrinsic contribution to the source's intraday variability at 2.8 cm, while at 6 and 11 cm, interstellar scintillation (ISS) seems to predominate. Large and quasi-sinusoidal variations of ∼0.8 mag were detected in the V, R and I bands. The X-ray data (0.2-10 keV) do not reveal significant variability on a 4 d time-scale, favouring reprocessed inverse Compton over synchrotron radiation in this band. The characteristic variability time-scales in radio and optical bands are similar. A quasi-periodic variation of 0.9-1.1 d in the optical data may be present, but if so it is marginal and limited to 2.2 cycles. Cross-correlations between radio and optical bands are discussed. The lack of a strong radio-optical correlation indicates different physical causes of variability (ISS at long radio wavelengths, source intrinsic origin in the optical) and is consistent with a high jet opacity and a compact synchrotron component peaking at ≃100 GHz in an ongoing very prominent flux-density outburst. For the campaign period, we construct a quasi-simultaneous spectral energy distribution, including γ-ray data from the Fermi satellite. We obtain lower limits for the relativistic Doppler boosting of δ ≥ 12-26, which for a BL Lac-type object is remarkably high. [ABSTRACT FROM AUTHOR]