Vellicate
Part of speech: verb
Definition: to touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements to irritate as if by a nip, pinch, or tear to pinch make to twitch
Tickle
Part of speech: noun
Definition: The act of tickling.A feeling resembling the result of tickling.
Part of speech: verb
Definition: To touch repeatedly or stroke delicately in a manner which causes the recipient to feel a usually pleasant sensation of tingling or titillation.To feel as if the body part in question is being tickled.To appeal to someone's taste, curiosity etc.To cause delight or amusement.
Example sentence: When you sling a saddle atop a llama's back, just after he's rolled in the dirt to scratch the unscratchable tickle of having lugged an ungrateful hiker's 90 pounds of impedimenta another eight miles along the trail, you're struck by how matted, coarse, and snarly the wool seems. But that's why it makes for versatile outdoor wear.