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Preheat the oven to 350 degrees F (175 degrees C).
Bring a large pot of lightly salted water to a boil. Cook rigatoni in the boiling water, stirring occasionally, until tender yet firm to the bite, 8 to 10 minutes. Drain and set aside.
Meanwhile, brown ground beef and Italian sausage in a large skillet over medium heat; transfer to a baking dish using a slotted spoon.
Stir spaghetti sauce, mushrooms, and rigatoni into beef and sausage mixture.
Sprinkle mozzarella cheese and pepperoni over top.
Bake in the preheated oven until cheese is brown and bubbly, about 20 minutes.