The prime minister has been heavily criticised for appearing to show a lack of empathy in the wake of the disaster.
Scuffles broke out in the crowd as the Prime Minister's auto drove away from the scene of the disaster.
"The Prime Minister would have been shouted at by the residents, but she should have been willing to take that".
As well as anger at the prime minister's response, questions have been raised over the government's policy on safety in social housing.
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Witness Abdiqadir Warra told AFP the van "drove at people" and some of the victims were carried for several metres along the road. I am grateful to our emergency services, who responded quickly and have been working on the scene throughout the night.
He told Sky News that the meeting was "passionate".
The Queen was returning to her vehicle after visiting Westway Sports Centre, where several people are staying until accommodation is found, when a man started angrily shouting at her.
"Can't we as a society just think all of us?" One man was led away by police after throwing a bottle at the Labour politician, who was visiting Notting Hill Methodist Church, near the estate.
Earlier in the day, Commons Leader Andrea Leadsom had visited west London, where she was repeatedly challenged by angry residents, some who yelled: "Meet the victims!" This fire could have been stopped a long, long time ago ... There's not even sprinklers in there.
He said: "I thought the way they expressed themselves with a mixture of passion and reason was fantastic, and I hope it's the beginning of a process, not the end of a process, the beginning of a process of real listening between Government, RBKC (the Royal Borough of Kensington and Chelsea council), local residents, that will bring about lasting change".
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Prosecutors tried to paint the calls as business-related, because Cosby was a Temple trustee and Constand was an employee. The testimony is relevant because Cosby is charged with drugging and molesting Andrea Constand at his home in 2004.
While denying the row represented a threat to Mrs May's leadership, Mrs Leadsom admitted that the Prime Minister was "trying to get a grip" of the situation.
Mr O'Donoghue said it was "another kind of welling-up moment" for the prime minister.
He added: "I think the thing that most encouraged us was it felt like she was taking charge and she wasn't allowing others to do it she was now going to make sure this happened and she was going to be personally responsible".
Fitzpatrick, who chairs the all-party group on fire safety and rescue, struggled to get his point across to our presenter, before eventually saying he would back the requisitioning of property to house those who previously lived in the tower - but only on a temporary basis.
"Understandably, people are desperately traumatised and, yes, people are angry and that is totally understandable".
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A defensive error allowed Carlos Vela to get on the ball, and his hooked cross was headed in. However, other than that he did not threaten Mexico goalkeeper Guillermo Ochoa .
"Mr Khan, who himself faced anger from residents on his visit to the site on Thursday, wrote: "[Residents] feel the Government and local council haven't done enough to help them in the aftermath of this horrific incident, or to provide answers to their increasingly urgent questions", he wrote.
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