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Carrier Frequency Offset (CFO) is a factor that decrease performance in Multiple-Input Multiple-Output (MIMO) Orthogonal Frequency Division Multiplexing (OFDM) systems. The goal in this work is to quantify the effect of CFO. To that end, we investigate the effect of CFO on the channel estimation performance and the effect of both channel estimation and CFO on the system capacity. Mean square channel error of a pilot-assisted estimation filter is obtained for a given CFO. Shannon capacity lower bound is derived for a given CFO and channel estimation mean square error. The results will be useful in the design of pilot signals in MIMO-OFDM.