We know that electrons kind of are "Attracted" to the nucleus. While the protons have a positive charge, the electrons have a negative one. If two atoms rub against one another can electrons be taken away from one of the atoms and transfer to the other atom? note: This would leave one of the atoms positive and one negative. This rubbing would also cause friction.
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The friction causes heat to emerge and this provides the neccessary energy for an atom to donate an electron . This electron will then be taken by the other atom and ions will form.