Bobby Rogers, a founding member of Motown group ”The Miracles” and a collaborator with Smokey Robinson, has died.

The 73-year-old Rogers had been ill for several years.

He formed the group in 1956 with cousin Claudette Rogers, Pete Moore, Ronnie White and Robinson.

Rogers and The Miracles were inducted into the Rock and Roll Hall of Fame in 2012.

Their hits included “I Second That Emotion” and ”The Tears of a Clown.”

He shared songwriting credits with Robinson on The Temptations’ ”The Way You Do the Things You Do,” The Contours’ ”First I Look at the Purse” and The Miracles’ ”Going to a Go-Go.”