Police in the US state of Ohio have released body camera footage of a fatal shooting of pregnant Black woman Ta’Kiya Young, which sparked public anger and renewed calls for an end to deadly police violence in the United States.

The footage released on Friday showed the 21-year-old’s killing in a grocery store parking lot in Blendon Township, a suburb of the Ohio state capital, Columbus, on August 24. Authorities said Young’s unborn child did not survive the shooting.

Blendon Township Police Chief John Belford has characterised the incident as a “tragedy” that occurred when police tried to stop Young after she was accused of shoplifting.

But Young’s family has called the killing “avoidable”, a “gross misuse of power and authority” and a “hateful act”, according to local media reports.