Prod
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Physical contact
Using 'prod' suggests that someone is being physically touched, which could be invasive or annoying. He prodded my shoulder to get my attention.
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Literal action
'Prod' is often used to describe a specific, deliberate poking action, rather than an accidental one. The child prodded the balloon with a stick.
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Figurative use
Sometimes 'prod' can be used figuratively to suggest inciting an emotion or reaction. Her comments prodded his anger.