WordNet sense 1 (anger produced by some annoying irritation):

annoyance, vexation

WordNet sense 2 (become or make sore by or as if by rubbing):

fret, gall

WordNet sense 3 (cause annoyance in; disturb, especially by minor irritations):

annoy, bother, devil, gravel, irritate, nark, nettle, rag, rile, vex, get at, get to

WordNet sense 4 (tear or wear off the skin or make sore by abrading):

excoriate

WordNet sense 5 (cause friction):

fray, rub, scratch