Fetching details from the dictionary...
with a scraping sound; with a grating sound; with a scratching sound
with force; hard; vigorously
forcibly (carry out); forcefully; in a pushy manner
hard (e.g. food); stiff (e.g. clothing)
inflexible; uncompromising; dyed-in-the-wool
hardcore; serious; genuine; bona fide; true; real
ごりごりと氷を砕いた。
I crushed the ice with a grating sound.
肩をごりごりとマッサージした。
I massaged my shoulder firmly.
ごりごりとすり鉢で胡麻をする。
Grind sesame in a mortar.