Nobody was physically injured in the incident, which occurred on Tuesday evening.
Gardaí are continuing to investigating a cash-in-transit robbery in Westmeath.
A cash in transit staff member was approached and threatened by a man on Tuesday evening at around 6.45pm outside a retail premises Eastbound on the N4 at Clongowney/Marlinstown, Mullingar.
The security staff member was forced to drive from the premises before it was abandoned on the slip road between the N4 and R156.
None of the security personnel were physically harmed in the course of the incident.
Gardaí are appealling for witnesses, particularly those with camera or dashcam footage, to come forward.
Anyone with any information is being asked to contact Mullingar Garda Station.
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