Whoever is concerned in the commission of a municipal ordinance violation is a principal and may be charged with and convicted of the commission of the violation even though such person did not directly commit it and although the person who directly committed it has not been convicted or has been convicted of some other degree of crime or ordinance violation or of some other crime or ordinance violation based on the same act. A person is concerned in the commission of a municipal ordinance violation if such person:
1. Directly commits the ordinance violation; or
2. Intentionally aids and abets the commission of it; or
3. Is a party to a conspiracy with another to commit it or advises, hires, counsels or otherwise procures another to commit it. Such a party is also concerned in the commission of any other municipal ordinance violation which is committed in pursuant of the intended violation and which under the circumstances is a natural and probable consequence of the intended offense.
This section does not apply to a person who voluntarily changes his or her mind and no longer desires that the violation be committed and notifies the other parties concerned of his or her withdrawal within a reasonable time before the commission of the violation so as to allow the others also to withdraw.