UPDATED Friday, May 30, 2014 --- .

The Rock Co. District Attorney says two police officers acted within the law and their training in an officer-involved shooting in Beloit.

The incident happened May 11th. Police say Christopher Rutherford hit and killed a woman while running from police.

Police say Rutherford got into the van parked in a driveway and revved the engine. Police attempted to tase him, but his clothes were too baggy. Rutherford took off, hitting and killing Sheila Rosenbaum who was standing in front of the van. Officers shot Rutherford as he drove by.

Rutherford was shot in the shoulder and survived. He is charged with homicide for Rosenbaum's death.

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UPDATED Tuesday, May 20, 2014 --- .

Beloit Police say the the man who allegedly hit and killed a woman while fleeing from police has been discharged from the hospital and has been arrested.

Christopher Rutherford was arrested on the following charges:

1st Degree Reckless Homicide 
Felony Fleeing Resulting in Death 
An Arrest Warrant / Commitment – Theft

Sheila Rosenbaum died in the incident. Rutherford is expected in court Wednesday.

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BELOIT, Wis. (AP) _ Beloit police say a woman is dead after being hit and killed by a man fleeing officers.

According to a police department news release, officers went to a residence at 7:40 p.m. Sunday on an unwanted person complaint, where they found 47-year-old Sheila Rosenbaum and a 40-year-old man.

Officers attempted to arrest the man but he allegedly jumped in a vehicle and hit Rosenbaum. Police say officers fired at the vehicle and he crashed a short distance away.

Police say he tried to run again but officers caught him. Police found he had a gunshot wound and he was taken to a hospital.

Captain Dan Risse says the two knew each other but he didn't know the exact relationship.

The Wisconsin Department of Justice is investigating the officer involved shooting.