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Yes, it is very normal and typical for AC adapters to get warm to the touch when they are plugged in, since they are providing current and either have a small transformer, or a switch mode power supply internally that is working to convert AC to DC. However, if you mean HOT (to the point where you cannot keep the top of your hand resting against it for a count of 5), then that is too hot and would indicate that the AC adapter is over-working, and likely defective.
If it is simply warm, then it isn't a worry or a fire hazard. If it's so hot you cannot keep your hand on it, then it's too hot and indicates a defective AC adapter and it should be replaced. If you need further assistance let me know. Before you go, PLEASE DO click at least a 3 STAR RATING, at the top of your screen (scroll up the page to get to the STARS). That is how I am credited for my efforts by the site.