Present participle of rub; applying pressure and movement against a surface, often to clean, smooth, or create friction.
From Middle English rubben, possibly from Low German rubben. The basic action is so fundamental that most languages have similar-sounding words for it.
Rubbing is one of humanity's oldest technologies - rubbing sticks creates fire, rubbing stones sharpens tools, and rubbing skin provides comfort. The phrase 'rubbing salt in the wound' shows how this basic action became a metaphor for making things worse.
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