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disrobe (v.)

"to undress (oneself);" also, transitive, "divest of a robe or garments, denude;" 1580s; see dis- + robe. Perhaps from or based on Old French desrober (Modern French dérober). Related: Disrobed; disrobing.

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Definitions of disrobe from WordNet

disrobe (v.)
get undressed;
Synonyms: undress / discase / uncase / unclothe / strip / strip down / peel
From wordnet.princeton.edu