noun / verb
dunk
DUHNGK/dʌŋk/
A brief dip into liquid.
She dunks the biscuit briefly into the tea.

Etymology
Old High German dunkon meant “to soak.” English dunk preserves the action of immersion but can describe just a brief dip, rather than leaving something in the liquid.
In context
dunk the washer into the clean bucket of water with nothing added to the water