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Defining relative clauses:

Defining relative clauses add essential information to a phrase to identify people, places and things. They can omit the object relative pronoun and are never put between commas.

Non-defining relative clauses:

Non-defining relative clauses give additional, non-essentail information. They have a similar function to brackets.

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Relative Clauses (Defining & Non-Defining) | EasyTeaching

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WHICH or THAT? A quick and simple guide. Relative clauses explained. English grammar lesson