gesticulate (v.)

early 15c., from Latin gesticulationem (nominative gesticulatio), noun of action from past participle stem of gesticulari "to gesture, mimic," from gesticulus "a mimicking gesture," diminutive of gestus "a gesture; carriage, posture," noun use of past participle of gerere "to bear, to carry" (see gest).

[G]esticulation is the using of gestures, & a gesture is an act of gesticulation. On the other hand, gesture also is sometimes used as an abstract, & then differs from gesticulation in implying less of the excited or emotional or theatrical or conspicuous. [Fowler]

1690s, agent noun in Latin form from gesticulate.