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Rape is defined as vaginal, oral, or anal penetration by the penis or any other object without consent of the other person.

Rape as defined by the United Nations
Rape was defined in September 1998 by the International Criminal Tribunal for Rwanda, sitting under United Nations jurisdiction in Arusha, Tanzania, as "a physical invasion of a sexual nature, committed on a person under circumstances which are coercive."

Rape as defined by the U.S. Department of Justice
An event that occurs without the victim’s consent, that involves the uses or threat of force to penetrate the victim’s vagina or anus by penis, tongue, fingers or object, or the victim’s mouth by penis, whether attempted or completed.