Watford have been relegated from the Premier League after defeat at Arsenal despite the visitors mounting a comeback.
Pierre-Emerick Aubameyang scored twice and Kieran Tierney also netted his first goal for the Gunners as they stormed into a 3-0 lead.
But David Luiz fouled Danny Welbeck in the box and Troy Deeney scored the resulting penalty before Welbeck converted from Ismaila Sarr's cross.
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But Hayden Mullins' side could not find more goals which would have secured their safety and will be playing Championship football for the first time since 2015 next season.