Former collaborators from Black Sabbath, Elf, Rainbow and his namesake band joined in an emotional public memorial service held Saturday for Ronnie James Dio on the fifth anniversary of his death.

Vinny Appice, who worked with Dio both in Black Sabbath and the offshoot band Heaven and Hell, took part in a rendition of "Rainbow In The Dark" with former Dio band members Rowan Robertson, Rudy Sarzo and Scott Warren, among others. Dio Disciples, which features ex-Dio members Craig Goldy, Simon Wright and Warren, performed "Stargazer."

Rock Feinstein of Elf joined figures with connections to Asia and Quiet Riot for "Mistreated," which also featured Warren. Rainbow's Jimmy Bain hooked up with Appice as well as members of Black Star Riders for "Stand Up and Shout." Additional songs and performers, as well as video from the event, is below.

Great White, Rough Cutt and ex-Megadeth guitarist Chris Broderick were among the others who performed at the memorial, held at Los Angeles' Forest Lawn Hollywood Hills. Dio died of stomach cancer on May 16, 2010, at age 67.

Watch Great White Perform 'Heaven and Hell' at the Ronnie James Dio Memorial

Watch Jimmy Bain, Carmine Appice and Others Perform 'Stand Up and Shout'

Watch Lita Ford and Others Perform 'Lisa'

Songs and performers from the Ronnie James Dio memorial:
"Lisa," Lita Ford, Patrick Kennison, Marty O'Brien
"Heaven and Hell," Great White
"Last in Line," Great White featuring Lorraine Lewis
"Take Her," Rough Cutt
"Mistreated," John Payne, Rock Feinstein, Christian Martucci, Sean McNabb, Roy Mayorga and Scott Warren
"Rainbow in the Dark," Gabbie Rae, Rowan Robertson, Rudy Sarzo, Vinny Appice and Scott Warren
"Sign of the Southern Cross," Ann Boleyn, Craig Goldy, Sean McNabb, Simon Wright and Scott Warren
"Stargazer," Dio Disciples
"Stand Up and Shout," Ricky Warwick, Robbie Crane, Chris Broderick, Jimmy Bain and Vinny Appice

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