The 52-year-old former Birmingham City and Preston North End striker has worked with new U’s head coach Gary Rowett at each of the clubs he has managed.
The duo played together too at Cambridge United, where Rowett began his professional playing career.
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Rowett told this newspaper: “As important as it is for me to come in and work really well with the team that’s already in place, and one of the things I’ve noticed is there are some really good staff here and some really good people.
“Everyone is trying their best to be part of what we want to do, and also it’s up to us to filter into the way they work as well.
“Mark Sale is someone I’ve worked with right back at the start. I’ve known Saley an awful long time, and I actually played with him many moons ago.
“We’re not old enough yet to forget we had that relationship, and he’s come along the way with me at most of the clubs.
“At Millwall, he did a lot of the opposition work for me, and we’ve got a good relationship.
“I think that’s important. It’s important you’ve got people who understand how you work, and we need to hit the ground running.
“I’m excited to get him in. He’s really good, a brilliant people person as well, and I think he’ll fit in with the group really well.”