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Security guards were ordered to lay on the ground as robbers took cash boxes they were delivering to a building society.
The raid happened just after 6.20am Saturday as guards were filling a cash machine at Nationwide in West Malling High Street.
It is believed four people were involved, including the driver of a silver Honda 4x4, which was later found abandoned in King Street.
A police spokesman said it is thought the vehicle - which has been recovered by Kent Police's forensic team for examination - was stolen from the Surrey area.
No one was badly hurt, although one of the guards was treated for minor injuries.
No weapons were involved and it is not yet known how much money was taken.
On Saturday, Nationwide customers were only aware the branch was temporarily closed thanks to a sign posted in the door.
Costa Coffee next door was also shut for a short time, but has since reopened.
Many shoppers and shop staff were unaware of the drama, which unfolded before most businesses had opened.
Staff at McColl's newsagents did not hear the noise, although they were already at work preparing newspaper deliveries.
One member of staff, Ashley Hobden, said: "I was doing the paper at the front and I didn’t hear anything at that time. I didn’t have the radio up too loud, just at a normal level but I was busy getting the tills out."
Det ins Simon Davy said: "We would particularly like to learn about the movements of the Honda as it drove to West Malling on Saturday and when it was abandoned in King Street."
• Anyone with any information is urged to contact police on 01732 379170 or Crimestoppers on 0800 555111.