bleat

Noun
  1. The sound of sheep or goats (or any sound resembling this) (synset 107392531)
    is a type of: cry - the characteristic utterance of an animal
Verb
  1. Talk whiningly (synset 201050364)
    is a type of: complain, kick, kvetch, plain, quetch, sound off - express complaints, discontent, displeasure, or unhappiness
  2. Cry plaintively (synset 201050202)
    "The lambs were bleating"
    is a type of: emit, let loose, let out, utter - express audibly; utter sounds (not necessarily words)
    same as: baa, blat, blate

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