Answer:
Yes, there was a time when the three alarms sounded together. It occurred 3 hours and 27 minutes after the clocks were started, and every 3 hours 30 minutes after that.
Explanation:
We assume the clocks are numbered 1–5 on the 5-minute clock, 1–6 on the 6-minute clock, and 1–7 on the 7-minute clock. Then the alarm on each clock goes off 3 minutes before the clock repeats its timing action.
The least common multiple of the clock times is 5·6·7 = 210 minutes, or 3 1/2 hours. All clocks will simultaneously be 3 minutes before their repeat at 3 minutes before this 210-minute period is up.
That is, the clocks will simultaneously alarm 207 minutes after being started, and every 210 minutes after that.
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Comment on clock face numbering
If the clock faces are numbered 1–12, so the 5-minute clock alarms 5·(2/12) minutes = 50 seconds after being started, for example, then the alarms can never sound together. The clocks will come together at least once on any/every multilple of 1 minute, but not on any/every multiple of 10 seconds.