If the extent of your legal knowledge is two dictionaries, you need to look further....Not being snarky but
Let's check Federal Statues and the FBI definition..
An Updated Definition of Rape
Forcible rape” had been defined by the UCR SRS as “the carnal knowledge of a female, forcibly and against her will.” That definition, unchanged since 1927, was outdated and narrow. It only included forcible male penile penetration of a female vagina. The new definition is:
“The penetration, no matter how slight, of the vagina or anus with any body part or object, or oral penetration by a sex organ of another person,
without the consent of the victim.”
Violence or threat of violence is not mentioned or required....