Things don’t actually touch, their electrons repel each other, and that is what we experience as objects not being able to pass through each other.
When we rub things together, there are a lot of electron interactions happening all at once. Some of those electrons get ripped off of one and stuck on the other object. That’s leaves the donor object with a positive charge and the recipient is left with a negative charge.
The exact properties of the material determine how willing it is to give up or receive electrons. Metal holds onto electrons so loosely that it will balance its charge with whatever it touches. Teflon holds on to its electrons so tightly that it never wants to give up any and it doesn’t have room for any more, that’s what gives it its “non stick” properties.
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