Non-repudiation ensures that the sender of a message cannot later deny having sent it, providing a verifiable link between a message and its origin. Though closely related to authenticity, the two concepts serve different sides of the same communication.
Non-Repudiation
A very similar concept to authenticity is non-repudiation. Non-repudiation means that if I send something, I can't deny that it came from me. It's a way that somebody can't deny that they sent something. So in this case, Susan's sending a message to David, and Susan now can't deny that this message did come from her.
Consider an example. Say both Susan and David need to be in an important meeting at 12:00. Their boss says, "Be in this meeting." But Susan wants David to miss this meeting, so she sends a message to David and says, "Well, it's been changed to 2:00." Now David shows up at two o'clock and realizes he's in trouble, because he didn't show up to the 12 o'clock meeting. He blames Susan, but Susan denies that she sent the email. What David can do, if there's some sort of non-repudiation, is say, "No, this was sent by Susan. Look at this information." So non-repudiation is this idea that Susan can't deny she sent this message.
Authenticity and non-repudiation are really close to the same thing, so let's look at the differences so we understand this. Susan sends a message to David. Authenticity is on David's side: authenticity means that David can see that it came from Susan, that the message is authentic. Non-repudiation is on Susan's side: Susan can't deny that she sent the message. So non-repudiation is that Susan can't say, "No, I didn't send it," and authenticity is that David can say, "Oh yeah, this came from Susan."
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