chafe

Become or make sore by or as if by rubbing.

Cause friction.

Cause annoyance in; disturb, especially by minor irritations.

Tear or wear off the skin or make sore by abrading.

“This leash chafes the dog's neck”

Feel extreme irritation or anger.

Warm by rubbing, as with the hands.

Anger produced by some annoying irritation.

Soreness and warmth caused by friction.

“he had a nasty chafe on his knee”