Tuesday's episode also featured an appearance by the Muppets and a performance by Cobra Starship.
Kardashian and partner Cheryl Burke won the relay and finished second overall. Lake and partner Derek Hough came in second place during the relay. Martinez was third and Solo was last.
LOS ANGELES – Soccer star Hope Solo has been kicked off of "Dancing With the Stars."
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"Instead of winning the mirror ball trophy, I'm going to try and win a gold medal this summer at the Olympics," said a smiling Solo, who won gold in the 2008 Olympics, after learning her fate.
AP Entertainment Writer Sandy Cohen can be reached at http:// www.twitter.com/APSandy
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She joins previously eliminated contestants Nancy Grace, Carson Kressley, David Arquette, Chaz Bono, Chynna Phillips, Elisabetta Canalis, Metta World Peace (formerly known as Ron Artest) and Kristin Cavallari.
She didn't seem quite as happy during Monday's semifinals. In backstage footage shown Tuesday, Solo was seen complaining about her scores and telling the judges, "kiss my booty."
Solo said Tuesday that "Dancing With the Stars" is "one of the toughest competitions I've ever been a part of."
Solo was eliminated from the ABC ballroom competition Tuesday after finishing in last place during the semifinal performance round. Dancing for the mirror ball trophy Monday will be actor and Army veteran J.R. Martinez, TV personality Ricki Lake and reality star Rob Kardashian.
Each semifinalist performed two routines in addition to competing in a "cha-cha relay," where all four couples danced to the same song.
Judges' scores are combined with viewer votes to determine which contestant is sent home each week.
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Solo and professional partner Maksim Chmerkovskiy came into Tuesday's episode with 49 points — nearly 20 points less than first-place finisher Lake.