(transitive) To move (one object) while maintaining contact with another object over some area, with pressure and friction.
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I rubbed the cloth over the glass.
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The cat rubbed itself against my leg.
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I rubbed my hands together for warmth.
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You ſhould rub your Teeth and whole Mouth and Gums, the Pallate and Tongue, with a clean courſe cloth, rubbing off the ſlime which groweth upon them in the night.
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1680, T. K., The Kitchin-Phyſician; Or, a Guide for Good-Housewives in Maintaining Their Families in Health. […]https://www.google.com.au/books/edition/The_Kitchin_Physician_Or_a_Guide_for_Goo/efpmAAAAcAAJ?hl=en&gbpv=0, How to cleanſe the Teeth, and keep them ſound, page 44:
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[…] Walden rubbed his hands together and smiled contentedly.
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1918, W[illiam] B[abington] Maxwell, chapter VII, in The Mirror and the Lamp, Indianapolis, Ind.: The Bobbs-Merrill Company, →OCLC: