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"undress her" is grammatically correct and can be used in written English
It is a verb phrase that means to remove someone's clothing. It is commonly used in romance or erotic writing, or in descriptions of actions. For example: "He slowly undressed her, his fingers fumbling with the buttons on her blouse." OR "She asked him to undress her, feeling the urgency building between them."
Exact(36)
When Andy tries to undress her, she fights him off.
Back in position to undress her opponents, not herself.
A neighbour woke up to find a drunken Witherspoon kissing and attempting to undress her.
And did Moshe undress her and lay her down on the sofa in the living room?
She won't sleep with Ruben, although she caresses him and lets him undress her.
Instead he kisses her — hard and bruisingly — and then forces her onto the sofa where he starts to undress her.
Similar(24)
Catherine undresses her husband.
He undresses her.
"The more I undressed her, the more foreign Katya seemed.
The brushy handling of her gorgeous clothes aggrandizes her smoothly painted skin: undressing her, in effect.
Once there, she said he undressed her and tried to have sex.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com