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Preposition

/ˌpɹɛpəˈzɪʃən/
B1
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(noun) Any of a class of non-inflecting words and multiword terms typically employed to connect a following noun or a pronoun, in an adjectival or adverbial sense, with some other word: a particle used with a noun or pronoun (in English always in the objective case) to make a phrase limiting some other word.

You can omit the preposition in this phrase.
However, the preposition+relative pronoun (which) part becomes a relative adverb (where).
CEFR Practice Quiz
The word 'under' is a ____ that shows the relationship between the cat and the table.

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