KANSAS CITY, Mo. — Clay County prosecutors have charged a Kansas City North man with two counts of child endangerment after they say he repeatedly rammed a car while his own children were inside it.

Jessica Miller was playing outside with her son near N.E. 89th Street and Holmes Sunday afternoon when she turned her head at the sound of squealing tires and a crunching noise.

“So I looked and I saw the black truck. He was ramming into the back of the red car and he would slam on his brakes and speed up so he could hit him harder,” said Miller.

According to the charging documents, police say Michael Dana, 28, repeatedly drove his truck into a man’s 2008 Dodge Avenger.

The man  in the Avenger was reportedly a friend of Dana’s ex-wife, who told police her and Dana’s children, ages four and one, were inside the car. She told police Dana was upset that the children were with this man and threatened to harm the man, she said.

“He had two little kids in the back,” Miller recalled.

She also said the incident lasted quite awhile. “From the time we saw it going around the neighborhood, probably ten minutes or so,” said Miller.

FOX 4’s Shannon O’Brien went to Michael Dana’s residence, where a woman who identified herself as Dana’s ex-girlfriend answered the door.

“According to him, it wasn’t him, but I can`t say I was not there, but that is not Mike,” said Amanda Perkins, who says she bailed Dana out of jail two weeks ago for violating a protection order filed by Dana’s estranged wife.

Dana’s ex-wife said she saw Dana drive past her home and says he looked right at her before he side-swiped the car and sped away.

Neither child appeared to be seriously injured.