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Depends on the umpire. I would say yes since the rules do not specify a relief pitcher has to be one who didn't pitch that inning. For me, if the new one feels the need to, I will allow it. Better to allow it than run the risk of getting him hurt for no reason.

To answer when the "when can I flip them back", the new pitcher has to complete an entire at-bat or until a pinch hitter comes in. If a pinch hitter is put in after the new pitcher throws at least 1 pitch to the original batter, then pitchers can be switched when pinch hitter is announced.

If the pinch hitter is announced at the time of switch, then the new pitcher has to pitch to the pinch hitter.

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