(Latin: to make warm, heat)

chafe, chafes, chafed, chafing (verbs)
1. To warm something, especially the hands or other parts of the body, by rubbing.
2. Warmth, wear, or soreness produced by friction.
3. To annoy, irritate, or provoking someone.
4. To become sore or worn by rubbing, or to make something sore or worn in this way.
5. To rub something, causing friction.
6. Etymology: from Latin calefacere, "to make hot, to make warm"; from calere, "to be warm".
1. A container for heating water; hence, a dish or a pan.
2. Someone who chafes.
chafing dish
A metal dish or pan mounted above a heating device and used to cook food or to keep it warm at the table.
A table stove or small furnace, usually a cylindrical box of sheet iron, with a grate at the bottom, and an open top.
chauffeur, chauffeurs; chauffeured, chauffeuring
1. Someone who is employed to drive a private automobile.
2. To drive someone from place to place in a car, or to be employed to drive a car for someone.
3. Etymology: originally "a motorist," from French, literally, "stoker"; operator of a steam engine, a French nickname for early motorists, from chauffer "to heat"; from Old French chaufer.

The first motor-cars were steam-driven. The sense of "professional" or "paid driver of a private motor car" is from about 1902.