Abingdon went out of their last cup competition at the hands of a Gloucester side who have lost only twice this season in Division 1 West.
The first half belonged to the visitors who pinned Gloucester in their own half for long spells.
Robbie McNeill put them ahead on 25 minutes with a shot from outside the area.
In the second half, the home team gambled on all-out attack and Abingdon keeper Geoff Morton worked overtime to keep them out.
Then, with ten minutes left, Ross Casey's cracker sent the tie into extra time, which was only three minutes old when Esson made it 2-1.
Casey's glorious chip ten minutes later sealed the verdict.
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