With only three games remaining Albion knew that three points were essential in the battle to avoid relegation to Division Three.
Yelverton started the brighter of the two sides and forced a number of corners that were dealt with well by the Albion defence.
Yelverton looked to have the advantage when indecisive defending forced Albion keeper Chard to make a rash challenge and brought down their forward in the area, but then made amends with an excellent save from the subsequent penalty.
Albion started passing the ball well and took the lead after good work down the right allowed Will Farrow to pull the ball back where Martin slid the ball home from close range.
In the ascendancy, Albion doubled their lead when a shot was deflected over the Yelverton keeper to make it 2-0. A Mark Leeper corner was then headed in by skipper Rochford as Albion took the game to the home side.
Sam Firman floated a shot over both keeper and defender to make it 4-0 at the interval.
Yelverton played some decent football in the opening minutes of the second half but Albion held firm and still looked dangerous going forward.
Further goals from Firman and Rochford meant Albion recorded their biggest win for a number of seasons and will take confidence into the final two matches of the season.
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