What are the difference between authority and power?

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Power is the ability to get things done by others. The principle of power is to punish and reward. Power can exist with or without authority. For instance an armed robber has power but no authority. Whereas authority is the power to enforce law and take command, and to expect obedience from those without authority. Authority can exist with or without power, for example a teacher has authority over the pupils but no real power. Steven Lukes states that there is three dimensions of power, decision, non decision making and manipulating desires.
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