chafe

Short definition from Wiktionary

Noun

1. 1
   Heat excited by friction.
2. 2
   Injury or wear caused by friction.
3. 3
   Vexation; irritation of mind; rage.

Verb

1. 1
   To excite heat in by friction; to rub in order to stimulate and make warm.
2. 2
   To excite passion or anger in; to fret; to irritate.
3. 3
   To fret and wear by rubbing.
4. 4
   To rub; to come together so as to wear by rubbing; to wear by friction.
5. 5
   To be worn by rubbing.
6. 6
   To have a feeling of vexation; to be vexed; to fret; to be irritated.