Not that Burress explicitly said he was putting that out there because he didn't like Cosby lecturing black people. So yeah, Cosby's position on social issues is what enraged the left to take him down.
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In March of 2013, Cosby said that Republicans who opposed Obama were as bad as any of the desegregationists from the past.
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Hypocrisy irritates people. Ideology may not have been a major factor, at least for Burress.