Wriggle
Part of speech: verb
Definition: To slightly twist one's body and quickly move one's limbs. To cause to or make something wriggle.
Part of speech: noun
Definition: A wriggling movement.
Squirm
Part of speech: verb
Definition: To twist one's body with snakelike motions.To twist in discomfort, especially from shame or embarrassment.To evade (a question, an interviewer etc).