Etymology
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burp

1932, noun and verb, American English, apparently imitative. The transitive sense of the verb is attested by 1940. Related: Burped; burping. Burp-gun attested from 1945.

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Definitions of burp
1
burp (v.)
expel gas from the stomach;
Please don't burp at the table
Synonyms: bubble / belch / eruct
2
burp (n.)
a reflex that expels gas noisily from the stomach through the mouth;
Synonyms: belch / belching / burping / eructation
From wordnet.princeton.edu