To move an object over, maintaining contact, with the intention of removing some substance from the surface: "I wiped the sweat from my brow with the back of my hand."

The object of the verb is the surface being rubbed/wiped, as in "I wipe my forehead".

If you use something to rub (like a cloth or your hand), then use the verb lo' with that thing.

If you wipe away something (like sweat from the forehead), use the verb bI' "sweep away".