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The campaigners had attempted to stage a sit-in on Nethercourt Roundabout as the lorry carrying sheep left the Port of Ramsgate in Kent at 6.45am today.
In footage of the incident, you can see a cyclist pull in front of the lorry on the roundabout, causing it to clip the back of the bike.
The rider was able to jump out of the way to safety, but the bike ended up being crushed.
The angry protestors then swarmed the vehicle, forcing it to come to a standstill, before pointing at the lorry and chanting 'SHAME!' in unison - in scenes reminiscent of Cersei's walk of shame in HBO series Game of Thrones.
Vegan activist Claire Folan filmed the drama unfold between the campaigners and someone believed to be an Onderwater Agneaux driver, and has criticised Kent Police for not protecting campaigners.
Mum-of-two Claire, from Thanet in Kent, said: "The disregard for life extends to humans too with these ruthless exporters.
"The cyclist was very shaken and upset but doesn't have any physical injuries but were very upset.
"Many social justice protests might at the time seem ludicrous.
"People have thrown themselves in front of horses but now we're really thankful that happened because we now have the rights we have today because someone committed that ludicrous act.
"The driver was potentially in a blind spot. The cyclist was in the approach and was ahead of the lorry so had the right of way.
"Every single time drivers approach that roundabout they will do it in a really reckless and fast manner. Unless you're there I don't think you can grasp how fast and terrifying it is when they approach.
"Yes that person [the cyclist] did do something absolutely outrageous but at the same time lots of direct action has to happen for things to change."
Claire, 34, has blasted Kent Police, claiming they weren't protecting the protestors and instead simply escorted the lorry away from the port.
Claire said: "I've been going to these for 18 months and you can hear everyone screaming when it happened.
"I've almost gone under a truck myself [before], now I don't stand out in front of the trucks as it's scary and dangerous.
"The police have the opportunity of slowing them down and escorting them to the sit-down protest but they don't.
"They have no intention of protecting us and facilitating peaceful protest - they're facilitating the shipment.
"Obviously it was way out of hand today."
While not affiliated with any organised campaign, Claire said she feels compelled to attend protests to document what happens, adding: "I hope to capture footage to make legislative change.
"Some who attend protests are wanting to raise welfare standards for the animals but many, including myself, are for complete cessation of the export because there is no welfare in them.
"We expect complete animal liberation and no exploitation whatsoever which is what this is.
"Due to an upcoming festival it's peak time for these exports as animal bodies are in high demand at this time of year.
"Some people are compelled from seeing animals in such distress to question the choices they make as consumers knowing they are a part of this - it's heart wrenching."
A Kent Police spokesperson said: "Kent Police will respond to protest to prevent crime and disorder and allow businesses to go about their lawful trade.
"Officers seek to strike a balance between the rights of protesters and the rights of the lawful commercial trade.
"On Thursday 1 August it was reported that a collision involving a bicycle and a lorry occurred at the port of Ramsgate at about 6.45am.
"No serious injuries were reported and officers are investigating the circumstances. Officers respond to every incident appropriately and proportionately to ensure public safety."
Onderwater Agneaux have been approached for comment.
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