Her positive attitude 'rubbed off' on other people. [=other people began to have a positive attitude from being around her]
We 'rubbed' the steaks with spices before we grilled them. = We 'rubbed' spices onto the steaks before we grilled them.
She 'rubbed out' [=('chiefly US') 'erased'] the wrong answer from her paper and filled in the correct one.