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Verb: vellicate
  1. Touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements
    - tickle, titillate
  2. Irritate as if by a nip, pinch, or tear
    "smooth surfaces can vellicate the teeth";
    - pinch

Derived forms: vellicates, vellicated, vellicating

Type of: irritate, itch