The 50/3.5 is dreadfully simple: a plate with threads outside for the camera, inside for the focus mechanism as the back end, and a front end that threads into it via external threads, and carries the lens tube. When you're at infinity you can see the focusing threads stick out the back, and when you focus close, the same stick out the front just a bit (the lines on the focus scale numberes point to the threads at their ends).
Take a Q-tip and a toothpick and gently clean out the exposed threads as much as you can, and then put just a few toothpick heads of grease on the exposed threads, and run the lens in and out a couple of times. If you're lucky, you're done, but at any rate, you didn't hurt anything. There's absolutely nothing hidden in there that you can't see, as there is in almost every other lens' focus mechanism.
If you were really bold, you could take out the close-focus stop pin, spin the front right off, clean and grease the threads properly, and put it all back together. There are five ways on a 50/3.5 to start the threads when you put the front back, only one of which will result in the back surface of front part of the lens bedding down completely against the back plate just as the lens reaches infinity, and that is the right threading to use. Getting the threads back together takes a gentle and patient hand, but it's not impossible. It's absolutely essential to start with the front and back pieces perfectly parallel to each other.
If the lens is ONLY rough when it's on the camera, then the problem is a very slight warp in the camera's mounting flange. Not important with most lenses, but the Elmar's mount is so thin it can flex to match the camera's mount, causing the threads to bind. This is a camera problem, not a lens problem, and one that most people wouldn't ever discover.
Here--just for you I took 60 seconds to take mine apart for you. The exposed brass threads are what needs the grease. White lithium grease is good, and it hardly takes any at all, though you have the option here of wiping off whatever extra squeezes out after you put the lens back together.