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My initial thought is that these words are all slight variations of ‘working together’. After this first lesson my definition of ‘partnership’ is two or more parties working together to achieve a common purpose or to achieve a specific task.
To me, a partnership can be distinguished from a collaboration and a relationship because it is more formalized and has a specific goal. However, a partnership is still different from a membership because a membership implies that there is a partnership between different parties but that there one overwhelming ‘leader’ guiding this partnership.