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I must sit next to him in the back seat of the sedan and let him put his arm around me.
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I'm really sorry that you have had to deal with that. I would guess that you feel an intense revulsion, perhaps sick to your stomach.
What would happen if you told him to keep his arm to himself? Could you sit in the front?
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There's no right for me to complain about anything if my mom is in the hospital, is there?
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Yes, there is.
The fact that a family member is ill does not grant other family members carte blanche to act however they wish.
I can understand that some small problems could be overlooked at a time of crisis. Would you say, though, that having your abuser's unwelcome arm around you feels like a "small problem"?