In response to Ireland's 171-8, South Africa reached 178-2 in the 18th over thanks to a career-best 75 from Rickelton and a 16th fifty from Hendricks.
Ireland appeared to be close to passing 180 runs when medium-pacer Patrick Kruger finished with a career-best 4-27 in his fifth Twenty20 international, but he lost three wickets in the final over.
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