piar

piar
pee-ahr'
to chirp; to whine
Examples
1. "¿Qué me ves?" pió el pollito.
"What are you looking at?" chirped the chick.
 
2. Niños, dejen de piar. Ahorita les hago de comer.
Stop whining, kids. I'll make you something to eat in a second.