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The word "consensual" is correct and usable in written English.
You can use it when you are referring to an agreement or action done with the agreement between two or more parties. Example: The business arrangement between the two companies was reached through consensual negotiations.
Dictionary
consensual
adjective
With permission, with consensus, without coercion; allowed without objecting or resisting.
Exact(60)
Kaletsky thinks the president, whose power is waxing, can now "dictate the broad terms of a budgetary truce" to Republicans, and that "the approaching budget and debt negotiations should prove surprisingly consensual and calm".
The former police officer made a surprise final statement just hours before the guilty verdict, in which he claimed he was innocent and the sexual encounter was consensual, according to journalists at IRPI, which has closely followed his trial.
As a result, one high-profile figure interviewed on background said the 2011 uprising had led to a crisis of Egyptian liberalism rather than the expected triumph of progressive politics, after professed liberals either turned away from consensual values themselves or failed to win support for them at the ballot box.
For each, we were asked to consider if the contact was consensual, why we thought this, and how we felt that the situation could have been handled instead.
Whether it's intentional or accidental, its gradual unbundling is not in the best interests of the people of the United Kingdom or any part of it.' Oh, a warning to those who might mistake Mr Ancram's amiable, consensual approach for a lack of low political cunning.
The British Medical Association is a union that sometimes needs to be taken to task, but Mr Cameron could not pick this fight at this time and remain on the consensual centre-ground.
He also said he believed the sex was consensual and that she "never said no".
An advanced devolutionist and critic of the Scottish parliament's failure to work in "a more consensual way", Christie remained an opponent of independence while becoming a signatory to the Campaign for Full Fiscal Responsibility.
"Several jurisdictions have made or are considering schemes to erase convictions for consensual homosexual acts," Corbell said.
Everything that takes place in the following video is consensual but may resemble rape".
For all Boyle's insistence that he was presenting a settled, consensual British view, it still looked quite an achievement, given who was sitting in the front row of the politicians' enclosure.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com