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Physical layer security (PLS) has been extensively explored as an alternative to conventional cryptographic schemes for securing wireless links. Many studies have shown that the cooperation between the legitimate nodes of a network can significantly enhance their secret communications performance, relative to the noncooperative case. Motivated by the importance of this class of PLS systems, this paper provides a comprehensive survey of the recent works on cooperative relaying and jamming techniques for securing wireless transmissions against eavesdropping nodes, which attempt to intercept the transmissions. First, it provides a in-depth overview of various secure relaying strategies and schemes. Next, a review of recently proposed solutions for cooperative jamming techniques is provided with an emphasis on power allocation and beamforming techniques. Then, the latest developments in hybrid techniques, which use both cooperative relaying and jamming, are elaborated. Finally, several key challenges in the domain of cooperative security are presented along with an extensive discussion on the applications of cooperative security in key enablers for 5G communications, such as nonorthogonal multiple access, device-to-device communications, and massive multiple-input multiple-output systems.