Give me a few examples of each type of force to give me a better idea of your definitions.
Since you asked nicely, sure thing, I'll provide a couple of hypothetical examples for you.
You break into a house in order to steal another persons property. They hit you over the head with a lamp and you run away crying "Bernie, Bernie, please help me steal other peoples stuff"
Your theft is unsuccessful. You, were using offensive force, the person repelling you was using defensive force. How's that? It provides an example of both offensive force and defensive force.
You are solicited by the owner of a pack of sex starved wild dogs and you willingly and eagerly consent to their advances. In fact you set up a regular thing every Wednesday night at 7: 00 pm. That is an example of mutual consent. No force needed or used. (Don't forget the doggie treats)