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undress (v.)

1590s, "to shed one's clothing," from un- (2) "opposite of" + dress (v.). Transitive sense of "to strip off (someone's) clothing" is recorded from 1610s. Related: Undressed; undressing.

undress (n.)

"state of partial or incomplete dress," 1680s, from undress (v.). Meaning "ordinary dress" is from 1748.

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Definitions of undress from WordNet
1
undress (v.)
get undressed;
please don't undress in front of everybody!
Synonyms: discase / uncase / unclothe / strip / strip down / disrobe / peel
undress (v.)
remove (someone's or one's own) clothes;
The nurse quickly undressed the accident victim
Synonyms: strip / divest / disinvest
2
undress (n.)
partial or complete nakedness;
a state of undress
From wordnet.princeton.edu