The family was travelling from Nagaur district to Jodhpur in two cars for shopping when one them was hit by a truck, killing two persons on the spot, they said.
Police said that the mishap took place as the car driver tried to overtake at a high speed.
Four others were critically injured in the mishap and died while they were being taken to a hospital in Bilara.
Besides Sharda, the deceased were identified as -- Annu (35), Pappu Devi (35), Geeta (35), Chuka Devi (40) and Mohan Ram (40), they said.
The collision was so severe that the police along with the help of locals had to get pull out the victims from the mangled remains of the car left the car.
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