To complain persistently about something annoying; or the annoying thing itself.
From Old English 'gripan' meaning 'to grasp or seize.' The complaint sense evolved from the idea of something 'gripping' or bothering you persistently, like a hand won't let go.
Your stomach can 'gripe' (cause pain), someone can 'gripe' (complain), and both come from the same root—because both grab hold of you and won't release.
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