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Four plays later, Palmer eluded pressure and found Denarius Moore on a 6-yard touchdown pass that brought Oakland within 31-28 early in the fourth quarter.
"For us seeing him give the thumbs up, knowing he was all right gave us more momentum," Hagan said. "That really uplifted us and we came out on top."
Raiders cornerback Pat Lee then forced a fumble downfield by Pittsburgh receiver Antonio Brown that Philip Wheeler recovered at the Oakland 36. Palmer then drove the Raiders down the field and they tied the game on a 32-yard field goal by Janikowski with 6:30 to play.
With the Steelers missing Pro Bowl defensive stalwarts Troy Polamalu (calf) and James Harrison (knee), the Raiders were able to move the ball effectively in the second half.
Darren McFadden ran for 113 yards, including a 64-yard TD burst in the first quarter that surpassed his rushing total from the first two games of the season combined.
Palmer overcame an interception on the first play of the game to go 24 for 34 for 209 yards and three touchdowns, including a 3-yarder to Heyward-Bey late in the first half.
"They outplayed us defensively," Pittsburgh safety Ryan Clark said. "Their defense made the stops when they needed to, and we didn't. It wasn't from a lack of trying. Maybe it was trying too hard."
Roethlisberger was even better, throwing two TD passes to Heath Miller in the first quarter, as well as third-quarter scores to Mike Wallace and Brown. Roethlisberger finished 36 for 49 for 384 yards as Oakland failed to generate any sustained pass rush.
But he failed to convert a third-and-9 under pressure following the two-minute warning to give Oakland the chance at the winning score.
Each team converted a turnover into a touchdown in the opening half with the Steelers taking a 17-14 lead at the break after Roethlisberger led them 64 yards in the final 1:54 without a timeout to set up Shaun Suisham's 33-yard field goal on the final play.
NOTES: Myers left the game with a concussion on the final drive. ... Hall of Famer Marcus Allen lit the torch honoring late owner Al Davis in a sign that his long-running feud with the organization has ended. ... Miller has four TD catches in three games.
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