Most of the time, yes.
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"YouTube is not for pornography or sexually explicit content". The basic rule is that YouTube is a family site and will not expose children and families to nudity as this is inappropriate.
I wouldn't bet on it. Youtube doesn't allow any nudity whatsoever.
I highly doubt it, but if there was, they would probably make the video for 18 and over.
The Facebook site that allow nudity is Hot Guys
I've personally seen nudity (Unintentionally on Youtube) For example, A breast feeding video. Large amounts of frontal nudity. I also saw brief female nudity in a music video before. So yes.