How does coffee and tobacco stain your teeth? And so, should I be wary of chocolate milk?

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I read some days ago to not brush your teeth immediately after drinking coffee because of the acidity of it and wait for some time for the pH to balance, but that’s all I know for now.

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In coffee, there are large molecules called tannins, and when smoking, tar is produced. Both of these are brown in colour, and adhere quite well to surfaces due to the number of intermolecular bonds they can form.

If you had some kind of mouth guard thing that fit over your teeth, could you then smoke, drink coffee etc without staining?