Utah Code Ann. § 76-5-407
(2) In any prosecution for:
(a) the following offenses, any sexual penetration, however slight, is sufficient to constitute the relevant element of the offense:
(b) the following offenses, any touching, however slight, is sufficient to constitute the relevant element of the offense:
(3) In any prosecution for the following offenses, any touching, even if accomplished through clothing, is sufficient to constitute the relevant element of the offense: