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Phosphoric acid is a non-toxic, inorganic, rather weak triprotic acid, which, when pure, is a solid at room temperature and pressure. It is a weak acid so it is much less harmful than the strong acids like Hydrochloric, Sulfuric, Nitric acid. These strong acid can burn through skin and metal due to their high acidity.
Like most weak acids, Phosphoric acid has a strong affinity for its hydrogen ion. That gives it a less acidic property. Strong acids that are often harmful to human has a relatively weak affinity for their hydrogen ion, causing them to be much more acidic. Due to the high affinity for hydrogen ion by the phosphate, Phosphoric acid is also used as a buffer to maintain the pH of solutions.