Jack finished pushing her pants down enough that he could work his hand inside and brush against the front of her panties, thumb rolling against her with nothing but the cotton between his hand and her skin. See? Barrier!

"Take your bra off, Sam."

His voice was low and soft, trying not to scare her and make her have that out of control feeling that Jack sensed she didn't really like. Nope. Nothing out of control here. Sam was completely in control; Jack just had ideas.