vellicate

verbs

touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements
tickle, titillate, vellicate
is derived from
vellication
irritate as if by a nip, pinch, or tear
"smooth surfaces can vellicate the teeth"; "the pain is as if sharp points pinch your back"
pinch, vellicate