Five changes as Stags go 3-4-3 for cup replay
He was forced into three changes with loanees Keiron Freeman, Junior Brown and Dimitar Evtimov not permitted to play.
Also left out were Reggie Lambe and Fergus Bell, both dropped to the bench.
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Hide AdIn came Sascha Studer, Rakish Bingham, Lee Beevers, Rob Taylor and Ollie Palmer, Bingham and Palmer flanking Oliver up front with Beevers and Taylor wide in a midfield four.
A home clash with Bury or Luton awaited the winners of the replay.
MANSFIELD TOWN: Studer; Sutton, Tafazolli, Waterfall; Beevers, Heslop, Clements, R. Taylor; Bingham, Oliver, Palmer. Subs: Riley, Bell, Rhead, McGuire, Lambe, Fletcher, Bishop.
CAMBRIDGE: Dunn, Tait, G. Taylor, Coulson, Miller, Champion, Hughes, Appiah, Chadwick, Blair, Kaikai. Subs: Norris, Simpson, Nelson, Atkinson, B.J. Taylor, Bird, Naylor.
REFEREE: Carl Boyeson of East Yorkshire.