Option 1
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Wipe the rubber marks with a wet sponge.
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Rub a tennis ball across the rubber marks, going with the grain of the wood.
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Repeat if necessary.
Option 2
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Mix 1 tsp. baking soda with a small amount of water.
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Rub the baking soda mixture into the marks, using a toothbrush.
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Wipe with a wet sponge.