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To know if a runner has the ability to steal second base, take the time of the pitcher's stretch delivery (from the first movement until the ball hits the catcher's glove) and add 2 seconds (for an exceptional catcher's throw). If that time is greater than the average time for that base stealer to run from first to second...then send him!
Most pitchers throw 90+ mph which would take less than half a second to reach the catcher, who takes a half second to react and then takes a little over 1 second to throw to second base at 80 mph. Total time, a bit over 2 seconds.
Assuming the first base runner has a 10 ft. leadoff, he has to run the remaining 80 ft. in less than 2 seconds. Probably not possible, so we would have to assume that the runner takes off before the pitcher releases the ball.