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PITTSBURGH -- Justin Tucker made a 52-yard field goal with 5:08 left in overtime to give the Baltimore Ravens a 23-20 victory over the Pittsburgh Steelers on Thursday night.

Tucker tied it with 3 seconds to go in regulation after Pittsburgh's Josh Scobee missed a pair of kicks that would have given the Steelers some cushion. Tucker then won it in overtime after the Steelers failed to convert a pair of fourth downs in Baltimore territory.

Justin Forsett ran for 150 yards for the Ravens (1-3). Joe Flacco threw a touchdown pass and did just enough late to help the Ravens end the worst start in franchise history.

Michael Vick threw for 124 yards and a score while starting in place of injured Ben Roethlisberger, but the Steelers (2-2) bumbled late and Baltimore took advantage.

Thumbnail photo via Charles LeClaire/USA TODAY Sports Images