To make a sharp, sudden cry or shout (often of pain or excitement), or a sharp bark like a small dog makes.
From Old English 'gielpan' meaning 'to boast' or 'to shout.' The meaning shifted to describe sharp, sudden sounds in the 1500s-1600s.
Dogs yelp as a way to communicate distress or excitement—and humans make similar sounds instinctively, which is why you'll hear yelps at concerts, sports games, and even when you stub your toe!
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