A penis. Usually used to describe a penis that is used in questionable activities, such as 'rubbing it in' with an underage girl, or or all male group masturbation.
"I've got a ruler! Get your rub dogs, men!"
"I had this 16 year old girl petting my rub dog on saturday."
11๐ 5๐
The mark left in your underwear where a prairie dog rubbed its nose. A skidmark
The wife always bitches on laundry day if she finds a prairie dog rub in my shorts