Which physical types of rape require penetration?

The correct choice identifies the physical types of rape that necessitate penetration as vaginal and anal rape. Both types specifically involve penetration of the vagina or anus, making them distinct categories of sexual assault when referring to the legal definition of rape.

Vaginal rape involves penetration by a penis or object into the vagina, while anal rape refers to penetration into the anus. This definition is critical in understanding the legal implications and the severity of these acts, as both are recognized as violent offenses that violate a person's autonomy and consent.

Other options, while they may involve other forms of sexual acts, do not align with the legal understanding that defines rape strictly in terms of penetration. For instance, oral sex may constitute sexual offenses but does not meet the criteria for rape as defined by laws that focus on penetration. Digital penetration, although it can also result in significant harm, mainly pertains to the insertion of fingers and would not traditionally be classified as rape under many legal definitions. Thus, the distinction made in the correct answer highlights the importance of understanding sexual assault laws and definitions in the context of law enforcement.