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to rub; to pat; to stroke; to massage
腰が痛いので優しく摩ってもらった。
My back hurt, so someone gently rubbed it for me.
母が子どもの痛い膝をそっと摩った。
The mother gently rubbed her child's sore knee.
祖父が腰を手でゆっくり摩っている。
My grandfather is slowly rubbing his lower back with his hand.