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The incident took place around 4:45 a.m., on Friday, Oct. 18, in the area of Liberty and Bridge streets, said City of Beacon Police Det. Sgt. Jason Johnson.
When officers arrived on the scene, they the woman them that three men had taken her property and she was pushed from a moving vehicle.
A description of three men was obtained and a canvass of the area led police to Naije Perrette, 20, of Beacon and Julian Rivera, 19, of Hyde Park. A further investigation led to the arrest of Gualberto Negron Jr., 19, of Beacon.
They were charged with robbery and reckless endangerment. Negron was also charged with menacing, police said.
Perrette and Rivera are being held on a $50,000 bail. Negron is being held on $25,000 bail.
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