The video, taken by crews working for Univision's Fresno affiliate station, shows the Denny's road sign shaking as its lights flicker on and off. A loud rumbling noise is audible.
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The camera pans to show a street light bouncing up and down and a parked car rocking side to side. Power inside the restaurant appears to shut down for a moment, and hanging lights swing from side to side.
The quake, centered 11 miles from Ridgecrest area, struck at 8:19 p.m., just one day after a magnitude 6.4 hit the same general area.
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Friday's temblor is the largest Southern California quake in at least 20 years and was followed by a series of large and small aftershocks, including a handful above magnitude 5.0.
The area in and around Ridgecrest, already trying to recover from the previous temblor, took the brunt of the damage.
Experts said there is about a 1-in-10 chance that another 7.0 quake could hit within the next week.