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It also calls on U.N. member states "to intensify efforts to provide arrangements and guarantees in Gaza in order to sustain a durable cease-fire and calm, including to prevent illicit trafficking in arms and ammunition and to ensure the sustained re-opening" of border crossings.
In addition, the resolution "condemns all violence and hostilities directed against civilians," calls for "unimpeded" humanitarian access to Gaza, and welcomes the initiative to open "humanitarian corridors."
Simon Horner, of the European Commission aid department, said 60 percent of Gaza's 1.4 million people have no electricity, and fewer people every day have access to clean water. The sewage system is in danger of a failing, which could lead to an outbreak of disease, and medical services were under severe stress.
"The inability of the U.N. to provide assistance in this worsening humanitarian crisis is unacceptable," said Michele Montas, a U.N. spokeswoman.
She said according to reports, the attack on the U.N. truck, which killed two Palestinian workers, took place during a three-hour humanitarian lull announced by the Israel Defense Force. Four U.N. Relief and Works Agency local staff have been killed in the conflict.
In Geneva, the International Committee of the Red Cross said it would restrict aid operations to Gaza City for at least one day after one of its convoys came under Israeli fire at the Netzarim crossing during the three-hour lull in fighting Thursday. One driver was lightly injured.
The World Health Organization said 21 Palestinian medical workers have been killed and 30 more injured since Israel began its offensive.
The Israeli military said in a statement that it cooperates closely with foreign aid groups to help civilians, and said Hamas uses civilians as human shields.
The international Red Cross also accused Israel of hindering rescuers from reaching areas devastated in the battles. Ambulances could not get to the Zeitoun neighborhood for four days because the Israelis had blocked access with large earthen barriers, officials said.
When they were allowed in Wednesday, the rescuers "found four small children next to their dead mothers in one of the houses. They were too weak to stand up on their own. One man was also found alive, too weak to stand up," the ICRC said in a rare public statement. "In all, there were at least 12 corpses lying on mattresses" in one of the houses.