It is a form of sexual violence which includes rape (forced vaginal, anal or oral penetration or drug facilitated sexual assault), groping, child sexual abuse or the torture of the person in a sexual manner." - Wikipedia: Sexual Assault
"Outside of law, the term rape (sexual intercourse or other forms of sexual penetration carried out against a person without that person's consent) is often used interchangeably with sexual assault.
Although closely related, the two terms are technically distinct in most jurisdictions. Sexual assault typically includes rape and other forms of non-consensual sexual activity." - Wikipedia: Sexual Assault/Rape.