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(A similar topic is discussed in French in the article VIRGULE AVEC LES RELATIVES EXPLICATIVES ET DETERMINATIVES.)
Before deciding whether to use a comma with an adjective clause, you must determine whether the clause is essential or non-essential.
An essential clause (also known as a restrictive clause) is one that identifies or defines the word it modifies.
Do not use commas with an essential adjective clause:
Tip: You don’t need to use commas around an adjective clause starting with that, since it will always be essential.
A non-essential clause is one that merely gives secondary information about the noun it modifies. In this case, the noun is already clearly identified, without the clause.
Do use commas with a non-essential adjective clause. If the non-essential clause is in the middle of the sentence, it takes a comma before and after it:
If the non-essential clause comes at the end of the sentence, it has a comma before it:
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