Today saw someone riding a bicycle with his full, plastic shopping bags hanging beside the front wheel.
The bags were hitting the front wheel from time to time and I guess as the wheel was turning quite fast, it made a very certain, very typical, continuous sound when the spokes of the wheel interacted with the bag. It reminded me a lot of sharpening, polishing etc. You may have a fast spinning object and then hold another object against it, for example, a gem to cut or polish it.
Saying, however, "The spokes of the wheel polished the plastic bags" has a rather strange and funny ring. "Rubbing" might be ok, however, lacks noting the very fast motion in the above situation.
I feel like "to abrade" may be the closest approximations, however, I am unsure what would be most natural and precise. As always thanks in advance.