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Junghenn and the author have used this notion of relative almost periodicity to describe the structure of some right topological group compactifications of a semitopological semigroup S in terms of descending chain of group compactifications which enjoy certain joint continuity properties. We study this algebra RAP(B) of (relative) almost periodic functions over an algebra B and prove the universal mapping property of the RAP(B)-compactification of S. 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