Normally, yes. A transversal contemplates crossing two (normally parallel) lines in conversations about two dimensional space and the relationship of certain angles. If you are talking about three dimensions, all bets are off. Two skewed lines in three dimensional space could would have a line that connects them but none of them would be coplanar.
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Transversal
A transversal is simply any line that passes through two or more coplanar lines each at different points. So picture, if you will, two lines that are clearly not parallel. I can easily construct a transversal that passes through them. HOWEVER, if two parallel lines are intersected by a transversal, then the corresponding angles are congruent. This is called the transversal postulate. If the corresponding angles are congruent, than the lines are parallel. This is the converse of the first postulate. So, the answer to your question is NO, unless the corresponding angles are congruent.
are two lines that are not parallel, coplanar, and do not intersect
Two lines that are perpendicular to the same plane are coplanar. This means that they lay on the same plane.
Then the two lines cut through by transversal line are parallel to each other.