COMMENTARY on 5:6
Mustafa Khattab:

Translation:
O believers! When you rise up for prayer, wash your faces and your hands up to the elbows, wipe your heads, and wash your feet to the ankles. And if you are in a state of ˹full˺ impurity,3 then take a full bath. But if you are ill, on a journey, or have relieved yourselves, or have been intimate with your wives and cannot find water, then purify yourselves with clean earth by wiping your faces and hands.3 It is not Allah’s Will to burden you, but to purify you and complete His favour upon you, so perhaps you will be grateful.
Commentary:
3   For example, following sexual intercourse or a wet dream.

 

A. Yusuf Ali:

Translation:
O you who believe! when 702 you prepare for prayer, wash your faces, and your hands (and arms) to the elbows; Rub your heads (with water); and (wash) your feet to the ankles. If you are in a state of ceremonial impurity, 703 bathe your whole body. But if you are ill, or on a journey, or one of you cometh from offices of nature, or you have been in contact with women, and you find no water, then take for yourselves clean sand or earth, 704 and rub therewith your faces and hands, Allah do not wish to place you in a difficulty, but to make you clean, and to complete his favour to you, that you may be grateful.
Commentary:

702  These are the essentials of Wudu', or ablutions preparatory to prayers, viz. (1) to bathe the whole face in water, and (2) both hands and arms to the elbows, with (3) a little rubbing of the head with water (as the head is usually protected and comparatively clean), and (4) the bathing of the feet to the ankles. In addition, following the practice of the Prophet, it is usual first to wash the mouth, the throat, and the nose, before proceeding with the face, etc.

703  Cf. 4:43 and n. 563. Ritual impurity arises from sex pollution.

704  This is Tayammum, or washing with clean sand or earth where water is not available. I take it that this substitute is permissible both for Wudu' and for a full bath, in the circumstances mentioned.

 

Muhammad Asad:

Translation:
O YOU who have attained to faith! When you are about to pray, wash your face, and your hands and arms up to the elbows, and pass your [wet] hands lightly over your head, and [wash] your feet up to the ankles. And if you are in a state. requiring total ablution, purify yourselves. 17 But if you are ill, or are travelling, or have just satisfied a want of nature, or have cohabited with a woman, and can find no water-then take resort to pure dust, passing therewith lightly over your face and your hands. God does not want to impose any hardship on you, but wants to make you pure, and to bestow upon you the full measure of His blessings, so that you might have cause to be grateful.
Commentary:
17  For an explanation of this and the following passage, see 4:43 and the corresponding notes. Here, the reference to prayer connects with the last sentence of the preceding verse, which speaks of belief in God.