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Back of the tablets
The Nexus 7 has a back that is textured and feels solid in the hand. The iPad mini back is smoother but doesn't feel slippery in the hand.
Both tablets have a front-facing camera for video chatting and the iPad mini has a second camera on the back as seen in the image above.
The Nexus 7 is slightly thicker than the iPad mini.
In this photo the Nexus 7 is sitting on top of the iPad mini demonstrating the size difference.