Jerry agrees to act on Joyce's behalf, subject to her control, and Joyce trusts Jerry to so act. They set out the terms in a written document, which they both sign. This is

Name: Jerry agrees to act on Joyce's behalf, subject to her control, and Joyce trusts Jerry to so act. They set out the terms in a written document, which they both sign. This is
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An agency by agreement is formed when both parties agree to the agency relationship, often documented in writing, as in this case with Jerry and Joyce.

Jerry Agrees to Act on Joyce's Behalf, Subject to Her