Etymology
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wipe (v.)

Old English wipian "to wipe, cleanse," from Proto-Germanic *wipjan "to move back and forth" (source also of Danish vippe, Middle Dutch, Dutch vippen, Old High German wifan "to swing"), from PIE root *weip- "to turn, vacillate, tremble."

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wipe (n.)
1640s, "act of wiping," from wipe (v.). From 1708 as "something used in wiping" (especially a handkerchief); 1971 as "disposable absorbent tissue."
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wiper (n.)
1550s as a person, 1580s as a cloth, agent noun wipe (v.). From 1929 as short for windshield wiper.
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wipeout (n.)
also wipe-out, 1962, American English, surfer slang, from wipe (v.) + out. Sense of "destruction, defeat, a killing" is recorded from 1968. Verbal phrase wipe out "destroy, obliterate" is from 1610s.
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*weip- 

Proto-Indo-European root meaning "to turn, vacillate, tremble ecstatically." 

It forms all or part of: gimlet; gimp (n.2) "ornamental trimming material;" vibrant; vibrate; vibration; vibrato; vibrissa; waif; waive; waiver; whip; wimple; wipe.

It is the hypothetical source of/evidence for its existence is provided by: Latin vibrare "set in tremulous motion, move quickly to and fro, quiver, tremble, shake," Lithuanian vyburti "to wag" (the tail), Danish vippe, Dutch wippen "to swing," Old English wipan "to wipe."

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deterge (v.)

"to cleanse, clear away foul or offensive matter from," 1620s, from French déterger (16c.), from Latin detergere "to wipe away, cleanse," from de "off, away" (see de-) + tergere "to rub, polish, wipe," which is of uncertain origin. Related: Deterged; deterging.

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detergent (adj.)

"cleansing, purging," 1610s, from Latin detergentem (nominative detergens), present participle of detergere "to wipe away, cleanse," from de "off, away" (see de-) + tergere "to rub, polish, wipe," which is of uncertain origin. Originally a medical term.

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whisk (v.)
late 15c., "move with a rapid sweeping motion" (intransitive), from a Scandinavian source (compare Danish viske "to wipe, rub, sponge," Norwegian, Swedish viska "wipe," also "wag the tail"), from the source of whisk (n.). Transitive sense is from 1510s; meaning "to brush or sweep (something) lightly over a surface" is from 1620s. Related: Whisked; whisking.
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smegma (n.)
sebaceous secretion, 1819, from Latin, from Greek smegma "a detergent, soap, unguent," from smekhein "to wipe off, wipe clean, cleanse," from PIE root *sme- "to smear" (source also of Czech smetana "cream," and see smear (v.)). So called from resemblance; a medical coinage, the word seems not to have been used in its literal Greek sense in English before this. Related: Smegmatic.
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mop (v.)

"rub or wipe with or as with a mop," 1709 (in mop up), from mop (n.). Related: Mopped; mopping.

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