yelp 
(yĕlp)
(yĕlp)v. yelped, yelp·ing, yelps
v.intr.
To utter a short, sharp bark or cry: excited dogs yelping; yelped in pain when the bee stung.
v.tr.
To utter by yelping.
n.
A short, sharp cry or bark.
[Middle English yelpen, to cry aloud, from Old English gelpan, gielpan, to boast; see ghel-1 in the Appendix of Indo-European roots.]
yelper n.