The overall reason for this is that Japan wanted to have an empire in East Asia. They needed the empire as a source for raw materials and as a place for excess population to go and live.
The Japanese believed that the US would try to stop them from taking this empire and so they felt they would need to neutralize the US fleet to give them time to capture the empire.
When the US stopped selling them oil in 1941, they felt that they had to move soon before their stocks of oil ran too low. That is why they chose to attack Pearl Harbor -- to neutralize the US fleet so they could win an empire before their oil supplies ran out.
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