yelp

yelp /j'elp/ (yelps yelping yelped)
[VERB] V
If a person or dog yelps, they give a sudden short cry, often because of fear or pain.
Her dog yelped and came to heel.
[N-COUNT] oft N of n
Yelp is also a noun.
I had to bite back a yelp of surprise.

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