ter mosra lujvo

m₃ (non-agentive) rubs/brushes/scrubs against m₂ with frictional force m₁.

In notes:

mosra: x₁ is friction [force opposing motion] due to contact/rubbing between x₂ and x₃; (fe) x₂ rubs x₃.
termosygau: g₁ rubs m₃ against/with m₂ using frictional force m₁.