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The main difference is that a whale is living and a submarine is non living. Therefore, the submarine does not require oxygen to breathe however whale do require oxygen. Since, whales are not fishes and they do not have gills, they have to come up to the surface of the water to breathe unlike submarines....
Hope it helped :) 
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Whale is a mammal and a living creature.
Submarine is a type of vehicle which moves under the water.
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