chafe
To rub and irritate skin, making it sore or uncomfortable.
To chafe means to rub against something until it causes irritation or soreness. When your shoes are too tight and rub against your heels during a long walk, they chafe your skin, leaving it red and uncomfortable. Hikers on long trails often deal with chafing where their backpack straps rub their shoulders, or where clothing rubs against their skin repeatedly.
The word also describes the feeling of being annoyed or irritated by restrictions. A creative student might chafe under too many rules about how to complete an art project, feeling frustrated that they can't express their ideas freely. Someone might chafe at having to wait in line, or chafe under strict supervision. In this sense, you feel rubbed the wrong way mentally or emotionally.
Whether physical or emotional, chafing happens through repetition and friction. One rub might not bother you, but constant rubbing wears on you. The word captures that specific kind of irritation that builds up over time, like a pebble in your shoe or a rule that keeps getting in your way.