I'm not sure what to think about this guy. Does he want to take advantage of me?

I'm short, only 5' 1, and there is this guy I know who comes with us sometimes when we go out. He is a foot taller than me and muscular and I'm intimidated by him. One time, he touched my arm when he walked past me. Another time, we were at a beach and I was wearing my t shirt with sleeves folded and the front tied and he walked past me and brushed his hand against my belly. Not sure if he likes me or if he's looking to take advantage of me because I'm small and weak.
I'm not sure what to think about this guy. Does he want to take advantage of me?
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