The incident happened on February 20 after police responded to a reported armed robbery at a Food Maxx grocery store.
Surveillance video shows the suspect's car reversing and smashing into the store. It also shows officers confronting a suspect moments after they arrived.
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During that encounter, one officer was pulled into the suspect's car as it sped away, leading to a tense confrontation inside the moving vehicle.
In audio captured on the body camera video, the officer can be heard warning the suspect, saying, "stop ...stop the car or I will shoot you."
The suspect can be heard saying, "I'm gonna go like 10 miles an hour," and "put the gun down, I don't trust you."
After several warnings, the officer fired a shot, intentionally striking the suspect in the leg, police said. The suspect then crashed into a parked car.
Authorities said the suspect got out of the vehicle and attempted to run away, but was captured and arrested shortly afterward.
The officer was not injured.