To rub and irritate skin, causing redness and soreness, or to become irritated and impatient about something.
From Old French 'chaufer' meaning 'to heat', from Latin 'calefacere' (to make warm), the meaning evolved from 'heating by friction' to 'irritating by rubbing'.
The word 'chafe' literally means to create friction and heat—sailors and cyclists still use anti-chafe products made with the same principles medieval people used: oils and smooth fabrics to reduce the heat of friction!
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