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They don't need to with goals, they have hawk eye. With penalties there is no clear explanation, and it leads to the usual debate about video replay. If limited to penalties, you get the argument - what if the ref is not sure and there's no natural break in play*? Does he give it, look at the...

From the laws of the game: Free kick inside the penalty area Direct or indirect free kick to the defending team: • all opponents must be at least 9.15 m (10 yds) from the ball • all opponents must remain outside the penalty area until the ball is in play • the ball is in play when it is kicked...

From the Laws of the Game.

If players, managers, pundits and fans had a better understanding of the current laws of the game, they would also realise refereeing isn't as bad as they think.* *That's not to say some refs don't make mistakes or have bad games, they do, but not as often and/or as bad as they are presented as.