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Question:

If you are approaching an intersection and see a steady yellow light, you should

A stop if it is safe to do so.
Explaination

A steady yellow traffic light indicates that the traffic light is about to turn red. If you are already in the intersection, continue moving and clear the intersection safely. If you are not already in the intersection, stop if it is safe to do so. However, don't stop suddenly and risk getting rear-ended by the vehicle behind you. If you cannot stop safely, proceed with caution through the intersection. Never speed up in an attempt to "beat the light" before it turns red.