Rules Guy: On a tap-in, my ball hit my foot. Is that a penalty?

Tiger Woods (R) prepares to putt as Rory McIlroy of Northern Ireland taps his ball in on the third green during the third round of the US Open at Merion Golf Club on June 15, 2013 in Ardmore, Pennsylvania.

What do the rules say about accidentally hitting your foot on a tap-in?

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