Voice Overlapping
A related phenomenon is "voice overlapping," where the voices do not cross per se, but they move together, and the lower voice passes where the upper voice was (or vice versa). For example, if two voices sound G and B, and move up to C and E. The overlapping occurs because the second note (C) in the lower voice is higher than the first note (B) in the upper voice. It leads to ambiguity, as the ear interprets the step from B to C in one voice, and is fairly consistently avoided in contrapuntal writing. Voice overlaps are common in Bach chorales, but again are discouraged or forbidden by most theory texts. In keyboard works, however, voice overlapping is considered appropriate.
Read more about this topic: Voice Crossing
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