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It is a girl-to-girl sexual intercourse by crossing their legs and rubbing them together.
ITS grabbing the shaft, and slowly rubbing it until the moment of intense pleasure comes.
What is it rubbing against? What size tire is on there? Is it the front or rear?
By rubbing an object against another
I don't find "masturation" in the dictionary. Perhaps you mean either "maturation" (the process of maturing) or "masturbation" (rubbing or massaging the sex organs for pleasure).
Frottage
Abrasion is the rubbing and scouring effect of material like stones or pebbles rubbing against and hitting the riverbed.
Because they sweat and the shirt is rubbing against them.
By purring or rubbing up against you.
the use of water and rubbing against your hands!
Friction heat.
It is not actually from the rubbing, but you may be reacting to the detergent or softener used for washing the underwear.