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In the case involving particles, the necessary and sufficient condition for the Penrose process to extract energy from a rotating black hole is absorption of particles with negative energies and angular momenta. No torque at the black-hole horizon occurs. In this article we consider the case of arbitrary fields or matter described by an unspecified, general energy-momentum tensor T_{mu nu} and show that the necessary and sufficient condition for extraction of a black hole?s rotational energy is analogous to that in the mechanical Penrose process: absorption of negative energy and negative angular momentum. We also show that a necessary condition for the Penrose process to occur is for the Noether current (the conserved energy-momentum density vector)to be spacelike or past directed (timelike or null) on some part of the horizon. In the particle case, our general criterion for the occurrence of a Penrose process reproduces the standard result. In the case of relativistic jet-producin