Marginal vs illegal contact
Intent does not determine if contact is legal or illegal. Severity of the contact and impact on the play will determine if it is a foul. Marginal is contact that does not reroute, impede or dislodge the movement of a player.  A foul is contact that does reroute, impede or dislodge (RID) an opponent.

There are over 20 more in this audi program.