They had a good relationship - Othello trusted Cassio and Cassio
respected Othello
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Othello could have avoided all the pain Iago's lies caused him
by simply believeing in the love Desdemona had for him. If Othello
were to have been less insecure and jealous than Iago would not
have been able to trick him.
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Othello and Desdemona end up eloping, but all does not end well.
In the last act, Othello, believing Desdemona had been unfaithful
to him, smothers her in her bed.