vellicate

verb4

1. •
   To touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements.

   • Convulsions arising from Some Acrimony in the Stomach, or from something vellicating a Nerve in its Extremity, and not in its Original where it ariseth from the Brain, are not very dangerous.
2. •
   (formal) To tickle, provoking twitching and laughter.
3. •
   To twitch or move convulsively.
4. •
   (figurative) To criticize in a somewhat irritating way; to carp at.