Staring at someone is generally considered rude because it makes people feel uncomfortable and self-conscious. It can be perceived as an invasion of privacy and a sign of disrespect. This discomfort stems from several factors:
The Underlying Reasons
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Invasion of Privacy: Prolonged staring can feel like an intrusion into someone's personal space and their right to be unobserved. It disrupts their sense of autonomy and creates a feeling of being scrutinized. As noted in multiple sources including Wikipedia (https://en.wikipedia.org/wiki/Staring) and Quora (https://www.quora.com/Why-is-it-impolite-to-stare), staring is often perceived as aggressive in that it violates an individual’s personal space.
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Social Norms and Expectations: In many cultures, including the US, direct and prolonged eye contact is considered impolite unless it's within the context of a conversation or established relationship. This is highlighted by several sources (https://www.quora.com/Why-is-staring-considered-rude-in-the-US, https://people.howstuffworks.com/why-is-it-rude-to-stare.htm). The feeling of being stared at can disrupt normal social interactions.
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Potential for Misinterpretation: Staring can be misinterpreted as judgmental, threatening, or even hostile. Even if the intention is not malicious, the receiver might feel uneasy or intimidated (https://thebeautywithin.quora.com/Do-you-think-it-s-rude-when-someone-just-stares-at-you-and-doesn-t-say-anything-while-you-re-talking-to-them). While staring can signal attraction, as mentioned in Reddit (https://www.reddit.com/r/socialskills/comments/8ma0g8/why_is_staring_at_someone_considered_rude_or_why/), this is often not how it is received, especially in the absence of other communicative signals.
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Self-Consciousness and Discomfort: Being the subject of someone's prolonged gaze can lead to self-consciousness, making the person being stared at feel uncomfortable, judged, and uneasy. This discomfort is emphasized in many of the sources (https://www.physicsforums.com/threads/what-makes-staring-at-others-rude.24424/).
In short, while the intention behind staring might be benign (e.g., fascination, absentmindedness), the impact is often negative, making it rude and socially unacceptable.