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chirp (v.)

"make a short, sharp, happy sound like a bird," mid-15c. (implied in chirping), echoic, or else a variant of Middle English chirken "to twitter" (late 14c.), from Old English cearcian "to creak, gnash." Related: Chirped. As a noun, attested from 1802.

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Definitions of chirp from WordNet
1
chirp (v.)
make high-pitched sounds;
the birds were chirping in the bushes
Synonyms: peep / cheep / chirrup
chirp (v.)
sing in modulation;
Synonyms: tweedle
2
chirp (n.)
a sharp sound made by small birds or insects;
From wordnet.princeton.edu