GILBERT, Ariz. - A fatal crash involving a truck and a bicyclist shut down the intersection of Val Vista Drive and Ray Road Wednesday morning.

Friends identified the woman as Jenna Taylor, a mother of four. The 33-year-old avid cyclist later died.

The intersection was closed throughout the morning and reopened after noon, but people stopped by through the evening to leave flowers in Taylor's memory.

UPDATE: Cycling group to honor Gilbert mom of 4 with special ride

“It was blood curdling, the crying,” said Derek Palosaari, who witnessed the aftermath. “The truck driver was hysterical getting out of his truck. He didn’t know what to do.”

Even though Palosaari didn’t’ know Jenna, the crash is deeply affected him.

“It also made me change my perspective on what I think my problems are,” he said.

That’s why he decided to bring his daughter back to the crash site, which has now turned into a memorial.

“We just brought flowers and said a prayer,” said Palosaari. “I cannot imagine being in either (the Taylor family's or the driver's) shoes.”

In a statement, the company that owns the truck, Baker Commodities Inc., said it was "heartbroken" and working closely with police:

This morning at approximately 8 a.m. a Baker Commodities truck was involved in a collision with a bicyclist at the intersection of Val Vista & Ray in Gilbert, AZ. We are heartbroken to learn that the accident resulted in a fatality. We are working closely with local police to determine the exact sequence of events. Baker Commodities is a family-owned company and we extend our deepest condolences to the family of the deceased. Our thoughts and prayers are with them. We will continue to use every resource at our disposal to work with investigators to determine what happened.

The circumstances surrounding the crash have not been released.

Taylor's friends and family have set up a GoFundMe page to ease her family's financial burden.