M.P.
I urge you to stop with using the police as the bad guy. You want your daughter to know that they will help her if and when she needs help. Also, you want her to grow up respecting the law. Police are the physical representation of the law. You want her to obey you and to obey the law.
Parents and police are together in helping children respect and obey authority. Do you want your daughter to obey you because she respects you or because she fears the police. I suggest you want her to obey because she understands that obedience is the right thing to do and not because she's afraid of the consequences. Consequences need to be positive and a way to teach right behavior.
I suggest that her grabbing your breast is a wake up call. Whether she grabbed you in fear or anger it was a negative reaction to a positive influence in our life. You want her to feel positive about you and the police.