Use 'disrobe' when privacy or seclusion is normal, such as changing rooms or doctor's visits. He waited for the nurse to leave before he began to disrobe for the exam.
Pro Tip 2/3
Formal Context
'Disrobe' is more formal and less common than 'undress'; it's often used in legal or formal texts. The court document stated that the accused was ordered to disrobe for the search.
Pro Tip 3/3
Preceding Events
Mention 'disrobe' before events that require no clothes, like swimming or medical procedures. All participants had to disrobe before entering the body-painting workshop.