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wriggle (v.)

late 15c., from Middle Low German wrigglen "to wriggle," from Proto-Germanic *wrig-, from *wreik- "to turn," from PIE root *wer- (2) "to turn, bend." Related to Old English wrigian "to turn, incline, go forward."

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Definitions of wriggle from WordNet
1
wriggle (v.)
to move in a twisting or contorted motion, (especially when struggling);
The child tried to wriggle free from his aunt's embrace
Synonyms: writhe / wrestle / worm / squirm / twist
2
wriggle (n.)
the act of wiggling;
Synonyms: wiggle / squirm
From wordnet.princeton.edu