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4-27 Incidental Contact
Incidental contact is contact with an opponent which is permitted and which does not constitue a foul
ART. 2... Contact which my result when opponents are in equally favorable positions to perform normal defensive or offensive movements, should not be considered illegal, even though the contact my be severe.
Art. 5... If, however, a player approaches an opponent from behind or from a position from which he/she has no reasonable chance to play the ball without making contact with the opponent, the responsibility is on the player in the unfavorable position.
If they're both in equal favorable position, then you can consider the contact incidental. If A1 gets to the ball clearly as you say, it does not give B3 free license to dive on him because he wasn't in as favorable of a position as A1.
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