"To clean" means to remove dirt. You put your clothes in the washer to clean them. Putting them in the washer does not "clear" them or "wipe" them. "To clear" means to take away something, leaving nothing behind. Somebody might tell people "Please clear the room." That means that everybody should leave the room, so that the room is empty. It doesn't mean "please clean the room" or "please wipe the room." "To wipe" means to rub something, using friction, across a broad area. It can be one way of cleaning something. But it is a description of the action, not the reason for doing it. A good example of the word is the windshield wipers on a car. They wipe the windshield. All three verb might work here. The wipers wipe the windshield. By wiping the windshield, they clear the rain from it. However, wipers do not do a good job of cleaning the windshield. If there is dirt on the windshield they might just smudge or smear it. Here's another example of the difference. Suppose you spill coffee on a white shirt. You might try to wipe the coffee off with a napkin. But it won't work. You can't clean coffee from a white shirt by wiping it.