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The force must be immediately before or

Theft has been held to be a continuing act, allowing for force to be at the time of the theft

Using force to escape may still be at the time of the theft

The force used must be in order to

If force is not used to steal, but then a later theft takes place, this

If D and V have an argument and D knocks V out, then when V is lying on the floor D takes V's wallet, this will

For the mens rea of robbery, the defendant must have the mens rea of theft, and

Robbery is an offence under