The Latin verb masturbari is of uncertain origin. Terms such as playing with yourself, pleasuring oneself and slang such as wanking,  jerking off,  and frigging are common. Self-abuse and self-pollution were common in early modern times and are still found in modern dictionaries. A large variety of other euphemisms and dysphemisms exist which describe masturbation. For a list of terms, see the entry for masturbate in Wiktionary.
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Kelly is wrong about many, many things, but on this one front, he was absolutely spot on: There is nothing wrong with a little bump and grind. Last week, in response to the question " Girls what's the strangest thing you've masturbated with? If you build it, they will fuck it.
Pillows are equally suitable for boys and girls, and making love to a soft pillow can be very pleasureable. If you are a guy, you can thrust between two pillows, the mattress and a pillow, you can fold the pillow and thrust into the groove or wrap the pillow around your penis to make a tube. You can also make a small hole in the casing and thrust into the stuffing inside - this method probably works best with a solid wadding or a foam pillow. If you are a girl, you can ride a pillow and grind your clit and labia against it. You can fold the pillow around a book or make a knot on the corner to make it harder.