The officer is identified as 56-year-old Michael McGrath, an NYPD inspector and commanding officer of the NYPD Cadet Corps.
The crash happened around 8 a.m. Monday at Waterbury and East Tremont avenues in the Pelham Bay section.
Video from the scene showed a yellow motorcycle lying on its side. Multiple first responders were on the scene.
Details continue to emerge about the circumstances surrounding the crash.
The officer was taken to Jacobi Medical Center in critical condition, where he later died.
Eyewitness News is told the driver of the truck did stop.
Residents say the area where the crash happened can get congested and dangerous.
Santiago Rodriguez says he has been hit three times along East Tremont. He believes most cars travel too fast.
"And it has to stop," he told Eyewitness News. "One victim is enough. But there's been more than one victim."
Accident scene investigators have not revealed who had the right of way in the crash that killed Inspector McGrath.
No charges have been filed. There are police cameras at the intersection.
NYPD Commissioner James O'Neill tweeted condolences:
As longtime CO of @NYPDCadets, Insp. McGrath shaped young minds & prepared coming generations of NY’s Finest. We thank him for his 29 years of dedication & extend our deepest condolences to those whose lives he positively affected, especially his loved ones, friends & colleagues. https://t.co/wcsegxZsGA— Commissioner O'Neill (@NYPDONeill) September 16, 2019
The president of the Captain's Endowment Association, Roy Richter, tweeted, "Terrible day as the NYPD deals with the shocking and tragic loss of Inspector Mike McGrath. Mike is a friend and loved by so many in his command. Rest in Peace . . . "
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