to wipe; to mop up
to get rid of (an impression, feeling, blemish, etc.); to dispel (e.g. shame); to erase; to remove
涙を拭う彼の手。
His hand wiping away tears.
汗を拭って仕事を続けた。
I wiped my sweat and continued working.
テーブルの汚れを拭いなさい。
Wipe off the dirt from the table.