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A Pembroke woman is due to be arraigned Wednesday on a charge of vehicular homicide in connection with a three-vehicle crash that killed the mother of a Whitman reserve police officer, authorities said.

Danielle Mastro, 33, was arrested Tuesday night, hours after the Plymouth district attorney’s office said the Audi 6 she was driving rear-ended a Chevy Equinox, causing the SUV to veer into the path of a 12-wheel heavy dump truck on Quincy Street in Brockton.

Mastro, accused of fleeing the scene on foot, is also charged with leaving the scene of an accident, prosecutors said in a statement.

The driver of the Chevy, identified by the DA only as a woman from Bridgewater, was taken to Good Samaritan Hospital in Brockton, where she was pronounced dead, the statement said.

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Separately, Whitman Police Chief Scott Benton issued a statement saying the crash killed the mother of Michael Combra, an auxiliary police officer on the force.

“On behalf of the Whitman Police Department and the entire community of Whitman, I offer my sincere condolences to Officer Combra and his family during this extremely difficult time,” Combra said.

Combra’s mother, whose name was not released, was driving north on Quincy Street at about 3:30 p.m., when the vehicle was struck from behind by the Audi, according to prosecutors.

The SUV veered into the southbound lane and crashed into the dump truck. “The impact caused the truck to rollover and lose its load before coming to a rest on its side,” according to the DA’s statement.

Mastro was located moments later by Brockton officers on patrol, prosecutors said.

After interviewing Mastro, police obtained a warrant for her arrest, according to the DA’s statement.

A female passenger in the Equinox was treated at Good Samaritan Hospital, and the dump truck driver remained on scene with non-life threatening injuries.

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Jake Johnson can be reached at jake.johnson@globe.com.