A man thought to be a soldier has been hit by a car then hacked to death in London in what has been described by Prime Minister David Cameron as a terrorist attack.

They first hit the man, thought to be a British soldier, with a car in broad daylight. Then the two attackers hacked him to death and dumped his body in the middle of a southeastern London road.

As the victim -- dressed in what appeared to be a T-shirt for Help for Heroes, a charity that helps military veterans -- lay prone, one of the two attackers found a camera.

"We swear by almighty Allah we will never stop fighting you until you leave us alone," said a meat-cleaver-wielding man with bloody hands, speaking in what seems to be a London accent.

"The only reasons we killed this man ... is because Muslims are dying daily," he added, in video aired by CNN affiliate ITN. "This British soldier is an eye for an eye, a tooth for tooth."

One witness, Michael Atlee, described the gruesome, frenzied and ultimately fatal sequence of events Wednesday afternoon as "a bloody mess."

British Prime David Cameron called it a terrorist attack.

"We will never buckle to terror," Cameron wrote on Twitter.

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