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Washcloth
A towel is a piece of absorbent fabric or paper used for drying or wiping a body or a surface. It draws moisture through direct contact, often using a blotting or a rubbing motion.
In households, several types of fabric towels are used, including hand towels, bath towels and kitchen towels. In warm climates, people may also use beach towels. Paper towels are provided in commercial or office bathrooms for users to dry their hands. Paper towels are also used in households for a range of wiping, cleaning and drying tasks.
Wikipedia
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Washrag (noun)
A square piece of cloth for washing the face and body.
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Washcloth (noun)
A small cloth used to wash the face and body.
Wiktionary