Disrobe (verb)

1. To remove clothing or a covering from.
2. To undress oneself or someone else.

Origin:

From the french word "déshabiller" which means "to undress".

Examples:

1. The actor disrobed for the nude scene.
2. The bride disrobed in the bridal suite before putting on her wedding dress.
3. The doctor instructed the patient to disrobe and put on a hospital gown.
4. The dancers disrobed to reveal their costumes underneath.
5. She was too tired to disrobe and went to bed in her clothes.