Chafe (verb)

1. To irritate or wear away by rubbing.
2. To become irritated or sore from rubbing.
3. To feel impatient or annoyed.

Origin:

From middle english 'chafen', from old english 'ceafian', from proto-germanic 'kafōną' ('to gnash, grind'), from proto-indo-european 'ǵabʰ-' ('to scrape, scratch').

Examples:

1. The rough fabric chafed her skin.
2. His shoes were chafing his heels.
3. He chafed at the slow progress of the project.