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I can not find a definition of relative Whitehead product. Could someone explain this product to me?

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See if anyone of these papers helps

https://arxiv.org/pdf/1508.06118.pdf

https://www.jstage.jst.go.jp/article/tmj1949/20/4/20_4_516/_pdf

http://www.sciencedirect.com/science/article/pii/0040938371900309

Or, this book by Hans J. Baues Obstruction Theory: On Homotopy Classification of Maps

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