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These soldiers were defending their front line when they noticed a truck that was picking up speed heading directly for them. These truck bombs aka VBIED (Vehicle based improvised explosive device) are always fully armoured and modified to withstand anything from a machine gun. So an armour piercing missile is only the way to stop the terrorist invention. TOW or Milan ATGM is the safest and most effective way take one out, but an RPG on the other hand is a hell of a lot riskier and harder due to chance of missing the target and paying for it with your life.