American Dictionary of the English Language

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WRIGGLE, verb intransitive To move the body to and fro with short motions.

Both he and his successors would often wriggle in their seats, as long as the cushion lasted.

WRIGGLE, verb transitive To put into a quick reciprocating motion; to introduce by a shifting motion.

Wriggling his body to recover his seat, and cast his right leg over.