e.g. I had to poke him on his shoulder to get his attention.
e.g. She poked a hole in my t-shirt with the scissors.
e.g. She poked her head around the open door to say hello.
e.g. He asked her not to poke her nose in other people's business.
e.g. She gave her dog a gentle poke on his nose to wake him up.
e.g. The detective stepped into the house and had a poke around to look for any clues.
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