When your limbs get cold blood flow slows down and your nerves begin to suffocate from lack of oxygen. When the blood flow is restored those nerves become reoxygenated they send damage signals as they wake back up.
You also have special nerves that detect changes in temperate. You have two sets, each one activating when gaining or losing heat. Since your hands are colder than the source you’re warming them by they are going to absorb that heat very quickly. This activates your heat sensing nerve cells into sending very strong signals as your hands rapidly change temperature.
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