If you're drunk at a party and someone takes five dollars from you without your permission...that's stealing.
If you ask your friend to hold your bag while you're in the bathroom and she takes five dollars without asking... that's stealing.
If someone puts a gun to your head, even if you physically hand them the five dollars... that's still stealing.
If your friend is short on cash, and the table next to you sees you lend your friend five dollars... they are not entitled to five dollars, too. If they take five dollars without your permission... that's stealing.
If you let someone borrow five dollars once... that doesn't mean they are entitled to it whenever they want. If they take it after you say no the second time... that's still stealing.
If you can't prove that someone stole five dollars, but they did... it's still stealing.
If you take someone's money forcefully, or without explicit permission... that is stealing. Point blank. If you take someone's body forcefully, or without explicit permission... that is rape. Point blank.