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From The Collaborative International Dictionary of English v.0.48:
Wriggle \Wrig"gle\, v. i. [imp. & p. p. Wriggled; p. pr. & vb. n. Wriggling.] [Freq. of wrig, probably from OE. wrikken to move to and fro; cf. LG. wriggeln, D. wrikken, Sw. vricka, Dan. vrikke.] To move the body to and fro with short, writhing motions, like a worm; to squirm; to twist uneasily or quickly about. [1913 Webster] Both he and successors would often wriggle in their seats, as long as the cushion lasted. --Swift. [1913 Webster]