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From The Collaborative International Dictionary of English v.0.48:
Yelp \Yelp\, v. i. [imp. & p. p. Yelped; p. pr. & vb. n. Yelping.] [OE. yelpen, [yogh]elpen, to boast, boast noisily, AS. gielpan, gilpan, gylpan; akin to OHG. gelph arrogant: cf. Icel. gj[=a]lpa to yelp. Cf. Yap.] [1913 Webster] 1. To boast. [Obs.] [1913 Webster] I keep [care] not of armes for to yelpe. --Chaucer. [1913 Webster] 2. To utter a sharp, quick cry, as a hound; to bark shrilly with eagerness, pain, or fear; to yaup. [1913 Webster] A little herd of England's timorous deer, Mazed with a yelping kennel of French curs? --Shak. [1913 Webster] At the least flourish of a broomstick or ladle, he would fly to the door with a yelping precipitation. --W. Irving. [1913 Webster]