rub

To apply pressure and friction to (a surface).

To clean, polish, or manipulate by the application of pressure and friction.

To apply to a surface firmly and with friction.

To move (an object or objects) firmly along a surface, especially repeatedly.

To cause to become worn, chafed, or irritated.

To remove, erase, or expunge.

To exert pressure or friction on something.

To wear or chafe with friction.

To cause irritation or annoyance.