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In addition to appearing onstage in uniform, police said Ricks was on duty at the time.
Prior to the incident, Ricks had submitted his resignation with the intent of leaving the department on Nov. 20 but was relieved of his duties earlier after the Sanford Police Department saw the video.
Police Chief Cecil Smith explained Ricks' firing in a statement on Thursday.
"An incident of this nature erodes the thin fibers of trust which already exist between the community and the police and it will not be tolerated within the Sanford Police Department," Smith said.