Wriggle (verb)

1. To move with twisting or writhing motions.
2. To twist and turn one's body in order to escape from a tight or uncomfortable position.
3. To wriggle out of a situation.

Origin:

Middle english wriglen, of imitative origin.

Examples:

1. The snake wriggled through the grass.
2. He wriggled out of his tight jeans.
3. She wriggled her way out of the trap.
4. The baby wriggled in his mother's arms.
5. He wriggled his toes to get the circulation going.