[Answered on Quora.com by Davis T.]
The use of erogenous zones or genitals without consent is always rape.
Penis in mouth, vagina, anus, on hands, legs, breasts without consent is rape. Ejaculating onto someone without consent is also sexual assault (rape and sexual assault have little to no difference legally).
Finger in mouth, vagina, anus, breasts or illicit touching anywhere can be considered sexual assault.
Inserting an object into a person is a sexual assault.
Forcibly giving someone oral sex (so mouth on the penis, clitoris, vagina or nipples of a person) is also sexual assault, i.e. rape.
In general, don´t touch someone in any way without their consent.
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