The quake was centered near Temescal Canyon in Riverside County. That's eight miles northeast of Trabuco Canyon in Orange County.
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The quake struck at 3:24 p.m., and had a depth of about 6.5 miles, according to the U.S. Geological Survey.
"It rattled our house pretty good," said Anita Oviedo on Facebook. "Felt like it went right under it."
"Didn't feel it but we heard it," said Jennifer Minor. "Sounded like someone picked up my house and dropped it."
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Others reported feeling the shake throughout Riverside County.
There were no reports of any injuries or damage.