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Sean Daniel McKay was pulled over by a motorcycle officer on Thursday, Feb. 8, because police say he was driving erratically across I-20 and had an illegal covering on his license plate.

Arlington PD says the 8-year department veteran, who has yet to be named, and a Lancaster PD officer both took part in the stop. Only McKay and a dog were in the vehicle at the time. The volatile back-and-forth escalated quickly.

The motorcycle officer pulled over McKay’s Cadillac after he drove across several lanes of traffic and stopped on the left shoulder. The officer approached him.

The officer can be heard in the video speaking a series of commands to McKay, and McKay disobeyed every one of them.

The officer attempted to pull McKay out of the Cadillac, but he refused.

"You got a gun in the car? Quit reaching around," the officer said.

Video shows McKay climbing over the passenger seat and grabbing a gun.

"Don’t do it!" McKay said.

"I’ll kill you! Put the gun down!" the officer told him.

"I know you will!" McKay said.

McKay did not point the gun, but he never dropped it. He slightly leaned forward while pointing his free hand at the officer, and the officer fired three shots.

Arlington police released body camera video of an officer who shot and killed an armed driver on I-20 last week. Chief Al Jones answered questions from reporters about the incident.

Chief Jones acknowledged the weapon was not visibly pointed toward the officer before the officer fired. He says, at that point, there was not time for de-escalation tactics.

"When they saw that gun, that became a deadly force situation. There is really not that much room where they could have de-escalated or moved back," he said. "They were like three feet away from this guy. We don’t have to wait for someone to point a gun at us before we take action. By that time, it’s too late."

The police chief says the shooting death is an unfortunate outcome.

"I think we could’ve had a different outcome provided that he actually complied with everything. He didn’t comply with anything that we asked him to do," Jones said.

McKay was a convicted felon.

Driver grabbed gun before Arlington officer shot him

Arlington police released body camera video of an officer-involved shooting last week. In the video, the driver refuses commands from officers before the police open fire three times.

Neither the dog nor the officers were injured.

Per department policy, the officer has been placed on administrative leave.

Criminal and administrative investigations are underway in connection to the incident.