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poke
This word conveys a sense of abrupt, pointed contact. It often implies a lack of delicacy, ranging from a playful nudge to an annoying or aggressive jab. When used as a verb, it suggests a focused application of pressure on a small area, frequently driven by curiosity or a desire to provoke a reaction. In its noun form, the word is typically countable when referring to the act of pushing. However, the dialectal sense referring to a bag is also countable. The term is most commonly associated with tactile exploration or impatient movement.
Meanings
To push a finger, a stick, or another pointed object into or against someone or something, often to get their attention or to examine them.
"She poked him in the arm to wake him up."
To push something with a finger or a pointed object repeatedly, often because of curiosity or dislike.
"The child poked at the strange vegetable on his plate."