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The quarterback looked for the veteran receiver again just before half time, though, and this time he managed to hold on to the ball to keep the teams close at the break.
Baltimore were in a strong field position again early in the third quarter, and took the lead for the first time when Kamar Aiken shook off a tackle to collect a pass from Flacco.
Sturgis got the Dolphins back to within a point, but a powerful run from Justin Forsett opened up a lead for the visitors.
Bernard Pierce thought that he had added a Ravens touchdown a few plays later, but was ruled down a yard short.
However, Flacco kept the ball himself on the next play to force his way into the endzone, sealing the win for the Ravens.
The result leaves the Ravens third in the AFC North, while the Dolphins sit third in the AFC East.