These were later joined by Henry Bolingbroke, Earl of Derby (the future king Henry IV) and Thomas de Mowbray, Duke of Norfolk and Earl of Nottingham.
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In 1387, the Lords Appellant launched an armed rebellion against King Richard and defeated an army under Robert de Vere, Earl of Oxford at the skirmish of Radcot Bridge, outside Oxford (this was the only battle that Bolingbroke, a renowned jouster, won in command through his life).
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There were originally three Lords Appellant: Thomas of Woodstock, Duke of Gloucester, son of Edward III and thus the king's uncle; Richard FitzAlan, Earl of Arundel and of Surrey; and Thomas de Beauchamp, Earl of Warwick.
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On 21 September 1397, Joan's father, the Earl of Arundel, who was also one of the Lords Appellant, was beheaded on Tower Hill, London, on charges of high treason against King Richard II of England.