The robbery began with Boudin dropping off her infant son, Chesa Boudin, at a babysitter’s before taking the wheel of the getaway vehicle, a U-Haul truck. She waited in a nearby parking lot as her heavily armed accomplices drove a red van to the Nanuet Mall, where a Brink’s truck was making a pick-up.
At 3:55 pm, Brink’s guards Peter Paige and Joseph Trombino emerged from the mall carrying bags of money. As they loaded the money into the truck, the robbers stormed out of their van and attacked. One fired two shotgun blasts into the truck’s bulletproof windshield, while another opened fire with an M16 rifle. Paige was hit multiple times in the chest and killed instantly. Trombino was able to fire a single shot from his handgun, but was struck in the shoulder and arm by several rounds, nearly severing his arm from his body.
The truck’s driver, James Kelly, noticing the shooting behind him, fired several rounds at the robbers through a gun port on the door of his truck, but came under heavy gunfire, and took cover underneath the dashboard, but he was hit in the head by glass and bullet shrapnel. The assailants grabbed $1.6 million in cash, got back in their van, and fled the scene.
https://en.wikipedia.org/wiki/1981_Brink%27s_robbery#Robbery
Soon, police officers Edward O’Grady, Waverly Brown, Brian Lennon, and Artie Keenan spotted and pulled over the U-Haul truck, with Boudin in the front seat, along with the yellow Honda at an entrance ramp to the New York State Thruway off New York State Route 59. The police were not sure if they had the right truck, since it had been reported that the robbers were all black, while the occupants of this vehicle were white...
Boudin, [the San Francisco prosecutor’s mother!] feigning innocence, pleaded with them to put down their guns and convinced them to drop their guard; Boudin said she remained silent, that the officers relaxed spontaneously.
After the police lowered their guns, six men armed with automatic weapons and wearing body armor emerged from the back of the truck and began firing upon the four police officers. Officer Brown managed to fire two or three rounds at the robbers before he was hit repeatedly by rifle rounds and collapsed on the ground. One robber then walked up to his prone body and fired several more shots into him with a 9mm handgun, ensuring his death. Keenan was shot in the leg, but managed to duck behind a tree and return fire.
https://en.wikipedia.org/wiki/1981_Brink%27s_robbery#Car_swap_and_second_gunfight