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PITTSBURGH (KDKA) — The man who was in a car with Antwon Rose before Rose was fatally shot has pleaded guilty to several charges in connection to a drive-by shooting.

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Eighteen-year-old Zaijuan Hester pleaded guilty Friday to three counts of aggravated assault and four firearms charges. Prosecutors dropped the charge of attempted homicide.

Zaijuan Hester (Photo Courtesy: Allegheny County)

Police say Hester was in the back seat of a car in North Braddock when he opened fire on a man standing along the road. The intended target was not injured.

Friday, Hester pleaded guilty to three counts of aggravated assault and four firearms charges. In exchange, the prosecution dropped a charge of attempted homicide.

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Former East Pittsburgh Police Officer Michael Rosfeld later pulled the vehicle over.

Both Hester, who was 17 at the time, and Rose ran from the vehicle.

Rosfeld opened fire, striking Rose three times. Rose later died. Hester was not hurt.

Hester’s attorney said pleading guilty was a tough decision and she plans to call many people to testify on his behalf at sentencing in June.

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Hester reportedly will not testify at Rosfeld’s trial next week.