The American quartet of Tianna Bartoletta, Allyson Felix, English Gardner and Morolake Akinosun clocked 41.77 to eliminate China from Friday's final.
"Before we came out our coach said it was just like a practice with the whole world watching," a relieved Gardner said after the one-off. "We just had to go out there and trust each other."
"It was different, it was really weird," Felix added. "Running without competition is just strange.
"I think when we walked out and people were cheering for us, it encouraged us. We're just grateful."
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The American women were thrown a lifeline however when replays showed that Felix had been knocked off-balance by Brazilian runner Kauiza Venancio as she prepared to hand off to Gardner.
The US team filed a protest and race officials duly disqualified Brazil -- but ruled that the Americans must run again, in a highly unusual solo flying lap -- to beat China's eighth fastest qualifying time of 42.70sec.
The decision angered Chinese officials but their protest was later dismissed by the International Association of Athletics Federations (IAAF).
"I was stunned and shocked when it happened. I've never been involved in anything like that," Felix said, adding she had no qualms about the decision which ultimately led to China's relay squad being knocked out of the final.
"I think the process was fair," Felix said. "I was impressed with the plan they came up with. It was just kind of an unfortunate situation. I wouldn't want to bump anyone out of a slot, but at the same time we were impeded. I think it's not ideal.
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