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There are distinct subcultures under this umbrella term.
The two sets of terms are subtly different: for example, someone may choose to act as bottom to another person, for example, by being whipped, purely recreationally, without any implication of being psychologically dominated by them, or a submissive may be ordered to massage their dominant partner.
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.
BDSM is now used as a catch-all phrase covering a wide range of activities, forms of interpersonal relationships, and distinct subcultures.
BDSM communities generally welcome anyone with a non-normative streak who identifies with the community; this may include cross-dressers, body modification enthusiasts, animal roleplayers, rubber fetishists, and others.