A large variety of other euphemisms and dysphemisms exist which describe masturbation.For a list of terms, see the entry for masturbate in Wiktionary.
The most common masturbation technique among males is to hold the penis with a loose fist and then to move the hand up and down the shaft.
This type of stimulation is typically all that is required to achieve orgasm and ejaculation.
Rubbing your penis against something is one of the best, hands-free, ways to jerk off. All you need is your hard dick and something to rub it against that you like.
Mutual masturbation (mutual manual stimulation of the genitals between partners) can be a substitute for sexual penetration.
Some techniques which may work for one individual can be difficult or uncomfortable for another.