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It is very common for people to believe things that are not true, and people without mental disorders believe falsehoods all the time. Now, there are two classes of bizarre beliefs that are recognized as mental health problems.
People who have the sort of upsetting obsessions that you see in OCD (i.e. that something is contaminated, or that a disaster is about to happen) usually recognize that their worries are not true, even though they feel true.
People with psychosis may have a bizarre idea (i.e. people can hear my thoughts), that they think is probably true. But often they doubt the truth of the idea as well, even though it feels real.
The difference between an obsession and delusion is the strength of the belief, the willingness to reject the belief, and the nature of the concern. A delusion is always a cause for concern. Usually, however, a good psychiatrist or psychologist can tell the difference, and make a treatment recommendation accordingly.
Best of luck,
Dr. Williams
Monnica T. Williams, Ph.D., Clinical Psychology
No Cost OCD Treatment: http://www.ocdproject.org