The Ghana international created the only goal of the game that saw his team claim all three points on the road away at Milan.
Badu who was booked in the game was handed a start by manager Giuseppe Iachini and went on to play in the full duration of the game.
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AC Milan and Udinese battled it out in the first half but neither of the teams was able to break the deadlock as they headed into the interval goalless.
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Udinese however grabbed all three points with two minutes to the end of regular time as Stipa Perica made use of Agyemang-Baduâs ball to slot home the only goal of the game.
The win for Udinese gives them two wins from their opening three games for the Italian Serie A season. AC Milan have won just once in their opening three games in the new season.