Treat slave like a slave in front of friends, making them present there genitals and bend over to reveal all privates.
Similar Slave Ativities related to public.
Little kids like not wearing clothes. Make your slave strip naked in public and run around. Perhaps a highway road stop? A few laps around the house? A lap around a local park? Underwear are perfectly legal. Slave will wear nothing but them for 3 days. No matter who is around or where they are. Slave will be in just underwear. Need to go to Walmart? Heading to Church? For transgressions: make slave wear a sign to the next public function naming there crime. (ouch)
Get a picture of slave fully nude standing on a highway overpass. If you have one get a picture of slave masturbating on a highway overpass. Get a picture of slave fully nude standing on a train car. If you have one then get a picture of slave masturbating on train car.
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