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whinny (v.)

1520s, probably related to whine and ultimately imitative (compare Latin hinnire).

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Definitions of whinny from WordNet
1
whinny (v.)
make a characteristic sound, of a horse;
Synonyms: neigh / nicker / whicker
2
whinny (n.)
the characteristic sounds made by a horse;
Synonyms: neigh / nicker / whicker
From wordnet.princeton.edu