Etymology
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jerk off (v.)

slang, "perform male masturbation," by 1896, from jerk (v.) denoting rapid pulling motion + off (adv.). Compare come off "experience orgasm" (17c.). Farmer and Henley ("Slang and Its Analogues") also lists as synonyms jerk (one's) jelly and jerk (one's) juice. The noun jerk off or jerkoff as an emphatic form of jerk (n.2) is attested by 1968. As an adjective from 1957.

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Definitions of jerk off

jerk off (v.)
get sexual gratification through self-stimulation;
Synonyms: masturbate / wank / fuck off / she-bop / jack off
From wordnet.princeton.edu