Lee Rigby's mother and widow have left court in tears as jurors heard graphic accounts of how he was run over and attacked with a meat cleaver and knives.
Prosecutor Richard Whittam QC read statements made by members of the public who saw the Fusilier's alleged murder near Woolwich barracks in southeast London on May 22.
Michael Adebolajo, 28, and Michael Adebowale, 22, are on trial for Drummer Rigby's murder, which they deny.
Drummer Rigby's tearful widow Rebecca and mother Lyn left the Old Bailey courtroom as details of the soldier's final moments emerged.
Drummer Rigby walks off the London Underground shortly before the attack
Witness Amanda Bailey described her shock at seeing the attack on the soldier, who she said looked "like a young man coming home from college".
She said in a statement: "The car sped up and went straight towards the young man. He didn't seem to mind the car or notice at all."
After he was run over, she said that she thought he might be dead.
She told the court: "I could see that his eyes were still open but they looked frozen. He wasn't moving or making any noise. I thought that he was dead or in shock."
Ms Bailey described one of the men trying to decapitate Drummer Rigby.
She said: "He was holding the cleaver in his right hand. He was using a lot of force to hack at the young man's neck.
"The motion of his arm was that he was raising it up and bringing it down.
"I was so shocked all I could do was sit there and stare and what happened, I couldn't believe what was going on.
"He was determined and he wasn't going to stop. He didn't care. It was broad daylight and this man didn't care.
"The whole incident took about two minutes, but I can't be sure. It felt like a lifetime."
Adebolajo denies murdering the soldier
Gill Hucks said in her statement that she saw two men taking it in turns to stab the soldier.
She went to get out of her car near the scene but her passenger Gary Perkins said: "F***ing hell, that man is being stabbed".
She said: "What I saw then I can only describe as a horrific frenzied attack on the man on the floor by two knife-wielding crazy men.
"I could not believe that they were doing such a thing in the middle of the afternoon in a busy street."
She said she saw one of the men "playing to the cameras" as people filmed the aftermath of the attack on their mobile phones.
Ms Hucks' passenger, Mr Perkins, was the first person to give evidence in person at the Old Bailey.
Describing one of the weapons, Mr Perkins said: "It was like a larger butcher's cleaver."
Mr Whittam QC said Mr Perkins had described the actions like a "butcher attacking a joint of meat".
"That's correct," Mr Perkins said.
The body was motionless and silent throughout, he added.
Mr Perkins said the weapon held by the other man was like a "longer, thinner blade, maybe like a butcher's carving knife".
Adebowale also denies murder
Mr Perkins said he was attacking the body on the ground with "frenzied stabbing-type motions".
Describing Ms Hucks, he said: "She was in an extreme state of distress. I got out of the car, when I saw what was happening, my immediate thought was to get back into the car and move for fear of us being next to be attacked.
"She was in no state to move the car."
In his statement, Thomas Seymour, an electrician for Greenwich Borough Council, described seeing Drummer Rigby's body.
"I thought he looked black but after a short while I realised this was because he was covered in blood," he said.
Mr Seymour said he saw one of the men stab the soldier with "forceful" actions between the chest and belly button "10 or 20 times".
Mr Seymour said the other man was "hacking the victim's head".
"I believed he was trying to cut the victim's head off by the way he was attacking him," he said.
"I couldn't believe what I was seeing. Due to the craziness of what was going on around me, I assumed it was gang or drug-related."
Another witness, James Henegan, wept in court as he described how one of the men pointed a gun at him.
"He pulled a gun from the bag and pointed it at us," he said.
"I thought he was going to shoot...fire a gun at us."
Mr Henegan wiped away tears as Adebolajo's barrister David Gottlieb asked him was he aware "there was nothing he could have done to change what happened".
"Yes," he said.
"My client is very is very anxious that you should know that," Mr Gottlieb added.
Adebolajo and Adebowale are also accused of attempting to murder a police officer and conspiracy to murder a police officer.
The trial continues.