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ACT 1 The Emperor of Rome is dead and his sons, Saturninus and Bassianus, vie for the succession. A third candidate, Titus Andronicus, is nominated as the people's choice, but must bury those sons who have died fighting the Goths. As part of the rites, the son of Tamora, Queen of the Goths, is sacrificed - despite his mother's pleas. Titus then rejects the crown in favour of Saturninus, who offers to marry Titus's daughter Lavinia. But Lavinia is betrothed to Bassianus, and - with the aid of Titus's remaining sons - the two escape. Titus is outraged, and kills his son Mutius when he attempts to defend them. Saturninus denounces the Andronici family and decides to marry Tamora. Tamora appears to reconcile the quarrelling parties, but plans with Saturninus to wipe out the Andronici.

ACT 2 Tamora's sons, Chiron and Demetrius, are arguing over Lavinia. Aaron interrupts and suggests that they take her by force rather than woo her. Titus, meanwhile, has organized a hunt in the forest for Saturninus, during which Tamora (now Empress) slips away to find Aaron. Discovered by Bassianus and Lavinia, Tamora gets her two sons to murder Bassianus, after which they drag off Lavinia. Aaron then lures two of Titus's sons, Quintus and Martius, into the pit where Bassianus's body has been dumped, and fetches Saturninus. The brothers are further implicated by a letter (fabricated by Aaron), and Saturninus orders their execution. In another part of the forest, Lavinia, who has been raped and had her hands and tongue cut off, is discovered by her uncle Marcus.

ACT 3 Titus vainly pleads for Quintus and Martius, and another son, Lucius, is banished for trying to rescue them. Marcus then enters with the mutilated Lavinia, and Titus and Lucius are filled with horror. Aaron interrupts with a message from the Emperor: he will release Quintus and Martius on condition that either Titus, Lucius or Marcus cut off one of their hands. Titus agrees, but for nothing - his hand is returned with the heads of his two sons. Titus's response is to laugh, crazed by shock. Later that evening, when Marcus kills a fly, Titus denounces it as murder.

ACT 4 Lavinia identifies her attackers by pointing to the tale of Philomel in Ovid's Metamorphoses and inscribing their names in the sand. Titus responds by sending a gift of weapons with a message to Chiron and Demetrius, knowing they will be unable to decipher it. Aaron alone realizes that Titus means revenge, but he is distracted by the arrival of a nurse with his newborn baby by Tamora, which she wants killed because of its dark skin. Aaron prevents the baby's murder but kills the nurse to stop her talking. Titus, meanwhile, is apparently mad; he bemoans the absence of Justice and orders arrows to be shot into the sky with messages for the gods. At the palace, Saturninus is alarmed to hear that Lucius is marching on Rome at the head of a Goth army.

ACT 5 Thinking that Titus is mad, Tamora, Chiron and Demetrius appear at his house dressed up as Revenge, Rape and Murder. Realizing who they are, Titus agrees to summon Lucius to dine with the Emperor and Empress. But after Tamora leaves, Titus unleashes a gruesome plan. First he kills Chiron and Demetrius and bakes them in a pie, which he offers to Tamora and Saturninus. He then kills Lavinia; reveals the ingredients of the dinner; and stabs Tamora. Titus is immediately killed by Saturninus, who is himself killed by Lucius. Elected Emperor, Lucius orders that Aaron be executed and Tamora's body be thrown to wild beasts.

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