Rub (verb)

1. Move (one's hand or an object) backwards and forwards along the surface of (something) with pressure.
2. Friction produced by rubbing two things together.
3. Apply pressure and friction to (a part of one's body) in order to relieve soreness or tension.
4. Remove dirt or rust from (something) by rubbing it.
5. Cause (something) to wear away or become smooth by friction.

Origin:

Middle english: from old french frotter, of unknown origin.

Examples:

1. She rubbed her eyes and yawned.
2. He rubbed the coin between his fingers to see if it was real.
3. The massage therapist rubbed the sore muscles in his back.
4. She rubbed the dirt off the plate with a cloth.
5. The river has rubbed the stone smooth over time.