SOA (Service-Oriented Architecture) is a set of guidelines for designing loosely-coupled software systems. One of its goals is to allow for rapid business change.
SOAP (Simple Object Access Protocol) is a protocol (set of rules) that allows web services to communicate with one another. It defines endpoints, message formats and transports (such as HTTP).
SOA designed systems may or may not leverage web services which may or may not leverage SOAP as their communication protocol.
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