the world > physical sensation > touch and feeling > touching > touching with the hand > touch or feel with the hand [verb (transitive)] > touch or manipulate repetitively (2)
milk1647
transitive. To manipulate in the manner of a teat during hand-milking.
knead1954
transferred. transitive and intransitive. To manipulate or paw repetitively with or as with the action of (the claws of) a cat.