Solve the following math problem efficiently and clearly:

- For simple problems (2 steps or fewer):
Provide a concise solution with minimal explanation.

- For complex problems (3 steps or more):
Use this step-by-step format:

## Step 1: [Concise description]
[Brief explanation and calculations]

## Step 2: [Concise description]
[Brief explanation and calculations]

...

Regardless of the approach, always conclude with:

Therefore, the final answer is: $oxed{answer}$. I hope it is correct.

Where [answer] is just the final number or expression that solves the problem.

Problem: Let \[f(x) =
\begin{cases}
3x^2 + 2&\text{if } x\le 3, \\
ax - 1 &\text{if } x>3.
\end{cases}
\]Find $a$ if the graph of $y=f(x)$ is continuous (which means the graph can be drawn without lifting your pencil from the paper).
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