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Sometimes the female-specific terms "mistress", "domme" or "dominatrix" are used to describe a dominant woman, instead of the gender-neutral term "dom".

Individuals who can change between top/dominant and bottom/submissive roles—whether from relationship to relationship or within a given relationship—are known as switches.

Participants usually derive pleasure from this, even though many of the practices—such as inflicting pain or humiliation or being restrained — would be unpleasant under other circumstances.

Explicit sexual activity, such as sexual penetration, may occur within a session, but is not essential.

Since the 1980s, many practitioners and organizations have adopted the motto (originally from the statement of purpose of GMSMA—a gay SM activist organization) "safe, sane and consensual", commonly abbreviated as "SSC", which means that everything is based on safe activities, that all participants be of sufficiently sound/sane mind to consent, and that all participants do consent.