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bicker (v.)

early 14c., bikere, "to skirmish, fight," perhaps from Middle Dutch bicken "to slash, stab, attack," + -er, Middle English frequentative suffix (as in blabber, hover, patter). Meaning "to quarrel, petulantly contend with words" is from mid-15c. Meaning "make a noisy, repeated clatter" is from 1748. Related: Bickered; bickering.

bicker (n.)

c. 1300, "a skirmish, a confused battle;" from the same source as bicker (v.). In modern use, often to describe the sound of a flight of an arrow or other repeated, loud, rapid sounds, in which sense it is perhaps at least partly echoic.

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Definitions of bicker from WordNet
1
bicker (v.)
argue over petty things;
Synonyms: quibble / niggle / pettifog / squabble / brabble
2
bicker (n.)
a quarrel about petty points;
Synonyms: bickering / spat / tiff / squabble / pettifoggery / fuss
From wordnet.princeton.edu