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Some have a policy of panties/nipple sticker for women (underwear for men) and some allow full nudity with explicit sexual interaction allowed.
For other scenes, particularly in established relationships, a safeword may be agreed to signify a warning ("this is getting too intense") rather than explicit withdrawal of consent; and a few choose not to use a safeword at all.
For the medical condition in which pain/humiliation is required for sexual arousal and causes distress or impairment, see Sexual masochism disorder.
BDSM is a variety of often erotic practices or roleplaying involving bondage, discipline, dominance and submission, sadomasochism, and other related interpersonal dynamics.
The interaction between tops and bottoms—where physical or mental control of the bottom is surrendered to the top—is sometimes known as "power exchange", whether in the context of an encounter or a relationship.
BDSM actions can often take place during a specific period of time agreed to by both parties, referred to as "play", a "scene", or a "session".