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Jamaal Charles ran for 100 yards and a score but couldn't stop Kansas City from dropping its sixth straight.
The Chiefs had their chances, taking their first lead in regulation all season in the first half then overcoming a series of embarrassing miscues to tie the game at 13 at the end of regulation.
Taking over at the Kansas City 20 with 1:51 remaining, Cassel led the Chiefs 52 yards -- converting a fourth-and-15 in the process -- to set up a 46-yard field goal by Ryan Succop as time expired.
"I thought our guys played and competed all night long," Cassel said. "We went up against a good football team and unfortunately we weren't able to pull it out in the end, but I thought the way the guys handled the environment of Monday Night Football was great."
Kansas City's only other victory this season came in overtime, a stunning upset in New Orleans in September. Any chance at a repeat faded when Cassel's pass on the second play of extra period landed in the hands of Timmons, who returned it 23 yards to set up Suisham's second game-winning field goal of the season.
It was sweet vindication for a Pittsburgh defense that allowed AFC lesser lights Tennessee and Oakland mount fourth-quarter comebacks earlier this season. Though the Steelers only managed to get the Chiefs -- last in the NFL in turnover differential -- to cough it up once, timing is everything.
"We got the one that count, baby," linebacker Larry Foote said. "We got the one that count. They did a good job tonight, but we got the one that was big- time."
NOTES: The Steelers have won 15 consecutive home games on Monday night ... Roethlisberger topped 1,000 career rushing yards with a 13-yard scramble in the first half ... Pittsburgh S Ryan Clark left the game in the fourth quarter with a concussion.
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