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vellicate 
verb
- touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements
Synonyms: tickle, titillate - irritate as if by a nip, pinch, or tear; "smooth surfaces can vellicate the teeth"; "the pain is as if sharp points pinch your back"
Synonyms: pinch
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