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My colleagues are divided on these two sentences that form part of a statement of a witness. Please help correct grammatical error and really help by explaining why ? (that is, as far as the English language permits)

Faction A say:

"I was sitting in the cafe when I saw a car collided into the poor cyclist. Upon reaching the carpark, then I saw the him took down the particulars of the car."

Faction B says:

"I was sitting in the cafe when I saw a car collide into the poor cyclist. On reaching the carpark, I saw him taking down the registration number of the car."
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Faction B's sentence is almost perfect. The only change I suggest making is to use the preposition "with" after the verb "collide". We would usually say that an object "collided with" another object, not "collided into".

I was sitting in the cafe when I saw a car collide with the poor cyclist. On reaching the carpark, I saw him taking down the registration number of the car.
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"Collided" would be correct too in that sentence, with a slightly different meaning.