Why do most cats hate it when you touch their belly, feet or tail?

Summary
The surest way to get a scratch from a feline is to go for a forbidden tummy rub. But why do cats hate being touched on their bellies?
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Why do most cats hate it when you touch their belly, feet or tail?
The surest way to get a scratch from a feline is to go for a forbidden tummy rub. But why do cats hate being touched on their bellies?
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