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If there are runners on base, it's a balk. Runners advance one base (MLB Rule 8.05(e)). If there's no one on base, and the pitch is delivered, a ball is called unless the batter reaches base otherwise (MLB Rule 8.01(d)).

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Q: When pitching to the batter if the pitcher's pivot foot comes off the rubber before the ball leaves his hand is there any penalty?
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