Simple past tense and past participle of yip.(verb)
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Use "yipped" in a sentence
"It was heavy, and the carrying of it was a queer sensation, inasmuch as it squirmed and "yipped" vociferously in transit, threatening so unmistakably to hatch in my hand that I was decidedly nervous."
"He was freezing, to start with - a rogue wave had struck the bow at dusk, soaking eight boys and washing the ships dog into the hold, where it still yipped for rescue - but it wasnt the cold that worried him."
"The creature yipped and turned its bloody grin on its prey."