The attack occurred around 8:30 a.m. near the intersection of Campolindo Drive and Calle la Montana.
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"She immediately responded she had a blanket in her hands, she went after the coyote and drove it off of her child," says Patrick Foy, a captain with the California Department of Fish and Wildlife.
The coyote was last seen running north on Calle La Montana, according to police.
Moraga police, Moraga-Orinda Fire Department and Contra Costa County Animal Services officials responded but did not find the animal, and investigators do not know if it is the same one that has done previous attacks in the Lamorinda area.
Police said there were no life-threatening injuries, but are warning people to not leave small children or pets unattended outside, and to take extra precautions during dusk and dawn times when coyotes are known to be more active.
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A neighbor took a picture of a coyote in the same area of the attack just 20 minutes prior. That neighbor pointed out the black spot that can be seen on this coyote's tail.
Another nearby neighbor took a picture of a coyote in their yard over the weekend, where the same black spot can be seen. Officials have not said if this is the coyote they are looking for.
Authorities are investigating the incident, and have taken a DNA sample from the bite wound to see if it was the same coyote involved in previous attacks.
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Bay City News contributed to this report.