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An Oklahoma Highway Patrol trooper arrested earlier this month on accusations that he raped and sexually assaulted three women during traffic stops has resigned from the patrol, according to OHP Capt. George Brown.

Brown said Eric Roberts’ resignation letter arrived late Thursday and was processed Friday.

Roberts has not been charged, though a document released this month by the Creek County District Attorney’s Office outlined three traffic stops that Roberts made this summer where he allegedly sexually assaulted women:

• Roberts stopped a 36-year-old woman on Interstate 44 in Creek County just after 2 p.m. June 15, offered her $20 for a lap dance and then instructed her “to use a U-Haul truck to move, so he could stop her and they could have sexual intercourse in the back” of the truck, an affidavit states.

• Roberts allegedly pulled over a 22-year-old woman on July 8 for a traffic violation and asked her “what she would do for that amount of money,” according to the affidavit. It says Roberts placed the woman in his patrol vehicle, drove her to a secluded location and had her give him oral sex.