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yip (v.)

1891, possibly from dialectal yip "to cheep like a bird" (early 19c.), from Middle English yippen (mid-15c.), of imitative origin. As a noun from 1896.

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Definitions of yip from WordNet

yip (v.)
bark in a high-pitched tone;
Synonyms: yelp / yap
From wordnet.princeton.edu