You searched for: “wiggle
wiggle, wriggle
wiggle (WIG uhl) (verb)
To move up and down or from side to side with short quick motions: "The little puppy could wiggle its tail with glee."
wriggle (RIG uhl) (verb)
To twist from side to side with small quick movements like a worm: "The children used to wriggle in their seats at school when the lesson became boring."

When Jan's kitten was very young, it would just wiggle with excitement. If she picked the kitten up, it tended to wriggle in her arms until she put it down again.