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The family of a Pennsylvania man fatally shot by police following a car chase two years ago has filed a federal civil rights lawsuit.

The family of 39-year-old Richard Scheuermann claim Easton police Sgt. Dominick Marraccini used excessive force and claim Scheuermann's vehicle was boxed in by police and no longer a threat to the public when he was shot.

The state attorney general's office investigated and found Marraccini did nothing criminal. Northampton County District Attorney John Morganelli also determined the shooting was justified.

Police say they chased Scheuermann early Oct. 24, 2014, after seeing him driving the wrong way on a Palmer Township road. Authorities determined Scheuermann rammed a police car, was shot twice, and was found with the knife in his neck after he hit a utility pole.

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