The incident happened on Route 32 in Newburgh around 7:30 p.m. Thursday.
Police say a state trooper had pulled over a Lexus when some sort of scuffle broke out between the driver and the officer.
That's when the trooper opened fire, killing the 52-year-old man.
He was rushed to the hospital, where he was pronounced dead.
Police are investigating why the car was stopped and what started the fight.
The name of the victim has not been released.
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