In a statement, Mr Kershaw’s family said: “We cannot begin to put into words the devastation caused by the cruel and senseless death of our beloved father and grandfather Stephen.
“Our lives will never be the same again.
“Those two took our lovely dad and grandad away when they should have been protecting him; caring for him.
“Due to Dad’s physical vulnerabilities, he was incapable of defending himself and it is truly heartbreaking to realise the full extent of the cruelty they inflicted on him.
“Dad was a kind and gentle soul and was much loved and cared about by his family and friends and he is greatly missed by all of us.
“They will serve their sentences but the heartbreak and grief we feel for the loss of our dad and grandad will be never-ending.”
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