The dump truck hit the semi near the left back tires, causing the vehicles to get entangled, according to the highway patrol.
The semi flipped onto its right side and both vehicles slid into the grass median.
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Mesnter was trapped in the cab of the dump truck for roughly an hour, and Eshelman was not injured in the crash.
The incident shut down U.S. 33 for more than four hours. The road reopened around 1:15 p.m.
Alcohol is not suspected to be a factor in the crash. OSP is continuing its investigation.