插,刺,捅,扎 what are the differences?
cha,
usually use it as, fork, you stick fork into food. you stick your finger into your mouth, etc. its usually not aggressive.

ci,
the second one, basically as, needle, eg: the fish bone hurt my finger... when you are having a shot from doctor, etc.

tong,
I feel this is like, you use weapon firmly stick into something, a bit aggressive. for example, the knife sticked into your body...etc

zha,
this one is like an accident, you accidentally hurt your finger, by a very small, sharp thing, for example: the glass hurt me, you can use "zha", also "zha" usually is not deep, its like hurt you on the surface...

just a brief explain.