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According to information supplied by the NTSB, a Cessna R172K (registration N736GV) was on a landing roll on runway 6 at the Lehigh Valley International Airport when the pilot was instructed to exit the runway at taxiway A4. Mesa Airlines flight 7138, a CRJ-700 (registration N506MJ), already instructed to position and hold on the same runway, was then given clearance by the same controller to take off.
During the takeoff roll, the Mesa crew heard the Cessna pilot say that he had missed the taxiway A4 turnoff and ask to exit at taxiway B. The Mesa crew saw the Cessna ahead of them on the runway and aborted the takeoff at about 120 knots, swerving around the Cessna. The Mesa crew estimated that they missed colliding with the Cessna by about 10 feet.
Night visual meteorological conditions prevailed at the time of the incident.