Synonyms for Vellicate (same or very similar meaning)
WordNet sense 1 (touch (a body part) lightly so as to excite the surface nerves and cause uneasiness, laughter, or spasmodic movements):
tickle, titillateWordNet sense 2 (irritate as if by a nip, pinch, or tear):
pinchFrom the ODE community, based on WordNetadd/edit