MINNEAPOLIS—The Memorial Day encounter between George Floyd and police escalated quickly after one of the officers drew his weapon on a crying and increasingly flustered Mr. Floyd, according to police body camera footage made public for the first time Wednesday.

The footage, taken from two officers charged in Mr. Floyd’s killing, also shows that the body camera worn by former police officer Derek Chauvin fell off during a struggle with Mr. Floyd. It was under the squad car during the entire time that Mr. Chauvin had his knee…

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