Your hands receive a heat transfer from the hot chocolate. Heat energy is exchanged between two objects when their temperatures differ. When the two items reach the same temperature, the cooler object becomes warmer.
The vibrations of the hot chocolate's particles provide thermal energy. Some of this energy is transmitted from the chocolate to the milk's granules when you add cold milk to hot chocolate.
A fire emits thermal energy that warms a person's hands. One of the three ways that thermal energy can be delivered is by thermal radiation. Convection and conduction are the other two methods, both of which require matter to transfer energy.
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