formed or existing merely by consent: a consensual transaction.
Physiology. (of an action) involuntarily correlative with a voluntary action, as the contraction of the iris when the eye is opened.

1745–55; < Latin consēnsu-, stem of consēnsus consensus + -al1

consensually, adverb
nonconsensual, adjective
nonconsensually, adverb Unabridged
Based on the Random House Dictionary, © Random House, Inc. 2014.
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World English Dictionary
consensual (kənˈsɛnsjʊəl)
1.  law (of a contract, agreement, etc) existing by consent
2.  law (of a sexual activity) performed with the consent of all parties involved
3.  (of certain reflex actions of a part of the body) responding to stimulation of another part
[from consensus + -al1]

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Word Origin & History

1754, from consensus + -al (1).
Online Etymology Dictionary, © 2010 Douglas Harper
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American Heritage
Medical Dictionary

consensual con·sen·su·al (kən-sěn'shōō-əl)

  1. Of or relating to a reflexive response of one body structure following stimulation of another, such as the concurrent constriction of one pupil in response to light shined in the other.

  2. Of or relating to involuntary movement of a body part accompanying voluntary movement of another.

con·sen'su·al·ly adv.
The American Heritage® Stedman's Medical Dictionary
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Example sentences
Consensual apparently, but it's way more complicated than that.
Some claim a credo can help to galvanise an electorate bored by consensual
His punishment was reduced because of the consensual nature of the crime.
The arrangement made between adjuncts and universities is a consensual
  transaction between buyer and seller.
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