Hm, question is whether or not it can exist.  It’s easy to describe a smutty scene using words you wouldn’t be surprised to hear in a classroom or place of worship.  But if the scene lacks not only the non-family-friendly words, but any nudity or hands roaming places covered in the beach, can it still be PG?  Or is the intention what matters?  If it’s the intention, what would something not intended to be sensual but is anyway be considered? 

I wrote in a couple scenes that are pretty dang sensual, but have no nudity, and none of my trilogy will have words that would make George Carlin proud.

Food for thought, I suppose.  At least for me.