The relative pronoun is optional if it is the object of the sentence.
The chef changed the recipe that the customers said was too spicy.If the relative clause has a subject that is not the relative pronoun, it is an object relative clause.
The chef changed the recipe which the customers said was too spicy.
The chef changed the recipe X the customers said was too spicy.
The cat that Martin saw killing the mouse is orange.If the relative clause does not have a subject, then the relative pronoun is the subject of the clause.
Main sentence: The cat is orange.
Relative clause: that I saw killing the mouse
Subject of the main sentence: cat
Subject of the relative clause: Martin
The mechanic fixed the car that was in the accident in ten minutes.
Main sentence: The mechanic fixed the car in ten minutes.
Relative clause: that was in the accident
Subject of the main sentence: mechanic
Subject of the relative clause: that
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