1736 Canting Dictionary / Y / To YELP [v]
(from the Yelping of a Dog) to cry, to bawl, to complain.
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Entry taken from 1736 Canting Dictionary, by Nathan Bailey.
To Yelp in the 1811 Vulgar Tongue
Also see examples in Canting Songs and Slang Rhymes collected by John S. Farmer (1896).